Handle robots with state machine #656
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added 9 commits
January 12, 2025 17:46
…avigation motion, including joint control
…pose in hover state and also reset the target velocity in landing phase
…ew state: pre_land_state
…crate a simple demo script.
…pt in each bringup launch
…new state machine system
tongtybj
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Jan 27, 2025
* [RosTest] move the module of hovering check to "src" directory * [Robot Interface] add python interpreted interface to support basic navigation motion, including joint control * [Navigation] refactor the process for landing phase. Only accept new pose in hover state and also reset the target velocity in landing phase * [Dragon][Naviagation] refactor the landing process by introducing a new state: pre_land_state * [Dragon] remove unnecessary scripts * [State Machine] implement basic classes based on ros smach, and also crate a simple demo script. * [Demo] creates more simple demo based on smach and integrate the script in each bringup launch * [RosTest] refactor the flight control test script to be based on the new state machine system * [Demo] remove unnecessary old demo scripts --------- Co-authored-by: Moju Zhao <[email protected]>
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What is this
Use Smach to control and navigate robot.
Details
L1andR1simultanesouly. Please refer to here for more detailSimple Demo
Usage: Example of DRAGON
The simple demo is integrated in the launch file: https://github.com/tongtybj/aerial_robot/blob/PR/state_machine/robots/dragon/launch/bringup.launch#L117
dragon_simple_demo.mp4