[Twin Hammer] [mocap]

change health_timeout to prevent force landing
koutarou-kaneko · Jan 22, 2025 · 1ad9d00 · 1ad9d00
1 parent d96de65
commit 1ad9d00
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Showing 3 changed files with 12 additions and 2 deletions.
diff --git a/robots/twin_hammer/config/mocap.yaml b/robots/twin_hammer/config/mocap.yaml
@@ -0,0 +1,9 @@
+sensor_plugin:
+        mocap:
+                pos_noise_sigma: 0.0002
+                angle_sigma: 0.005
+                acc_bias_noise_sigma: 0.001 # force acc bias estimation by kalman filter
+                unhealth_level: 3
+                health_timeout: 1.0
+                time_sync: false
+                mocap_sub_name: mocap/pose
diff --git a/robots/twin_hammer/launch/include/sensors.launch.xml b/robots/twin_hammer/launch/include/sensors.launch.xml
@@ -31,6 +31,7 @@
 
     <!-- basic configuration for sensors (e.g. noise sigma) -->
     <rosparam file="$(find aerial_robot_base)/config/sensors/imu/spinal.yaml" command="load" />
-    <rosparam file="$(find aerial_robot_base)/config/sensors/mocap.yaml" command="load" />
+    <!-- <rosparam file="$(find aerial_robot_base)/config/sensors/mocap.yaml" command="load" /> -->
+    <rosparam file="$(find twin_hammer)/config/mocap.yaml" command="load" />
   </group>
 </launch>
diff --git a/robots/twin_hammer/scripts/dummy_mocap_node.py b/robots/twin_hammer/scripts/dummy_mocap_node.py
@@ -18,7 +18,7 @@ def main(self):
       mocap_msg.pose.orientation.x = 0.0
       mocap_msg.pose.orientation.y = 0.0
       mocap_msg.pose.orientation.z = 0.0
-      mocap_msg.pose.orientation.w = 0.0
+      mocap_msg.pose.orientation.w = 1.0
       self.mocap_pub.publish(mocap_msg)
 
 if __name__ == "__main__":