Hi, yes @ppoirier, now I’m able to use mavros_controllers with Ardupilot. Firstly @romaster93 PositionTarget shouldn’t have any issues working with Ardupilot, you must be using incorrect typemask, can you please share logs? Or can you tell if you’re using guided mode etc
The mavros attitude message will only work with Ardupilot 4.2.0 i guess
As far as I remember, type mask 128 means you’re ignoring only acceleration in Y axis
I can see you are sending position and velocity, you can use
Hi, first of all, I don’t know why you are sending a velocity of 220 m/s in X-axis. are you sure about the coordinate frame you are using? there is no frame=6, you can check the docs for the message definition here you can understand frame conventions in mavlink and ardupilot docs.
I have worked with the fast planner repo you mentioned. I have made it work for ardupilot. soon I’ll make the work open source so you can have a look at it
The reason I set the speed high was that there was no change, so I purposely made it very high. The coordinate was set to 6 referring to other examples. Let’s take a look at the doc. I look forward to your source.
Then, is there anything else that needs to be modified other than coordinates and velocity? In general ardupilot, should setpoint_raw/local be reflected?
If I change the coordinates to 8, it works right away. I’ll edit the package and try to make it work. thank you @shubham-shahh
But you really should not directly use that. There are two other PRs after it to fix and add improved logging. Instead if you have a custom branch. Rebase it to 4.2 or 4.3 and then add your commits on top.
I’m also almost done with the work. But there is one problem. The pcl data generated by the fast planner is not generated smoothly, so generating the real-time target_pose is slow and does not convey the attitude quickly.
as I mentioned on discord pm you should talk to @khancyr since I think it has something to do with how gazebo sends data to and fro through UDP. also do check the tracking error as I mentioned over discord