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jsk-ros-pkg / jsk_aerial_robot Public

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[Spinal] Add an option for body rate cmd#579

Open

Li-Jinjie wants to merge 5 commits intojsk-ros-pkg:masterjsk-ros-pkg/jsk_aerial_robot:masterfrom Li-Jinjie:PR/add_body_rate_cmdLi-Jinjie/jsk_aerial_robot_dev:PR/add_body_rate_cmdCopy head branch name to clipboard

+156-69

Conversation Commits5 (5)Checks Files changed

Commits

Commits on Nov 25, 2023

[Spinal] add SetControlMode.srv to set control mode: attitude and body_rate.
Li-Jinjie
committed
[Spinal] rename true_vel -> true_ang_vel and vel -> ang_vel to reduce ambiguity
Li-Jinjie
committed
[Spinal] add body_rate option in FourAxisCommand.msg. When is_body_rate == true, the body_rate cmd will be set as target_ang_vel and hence becomes the feedforward term. Note that I change the sign …
Li-Jinjie
committed

Commits on Nov 27, 2023

[Spinal] fix a bug happened in cherry-pick
Li-Jinjie
committed
[Spinal] fix: add is_attitude_ctrl_ support for yaw term
Li-Jinjie
committed

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