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[merge after #549] add new gimbalrotor model: birotor #550

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[merge after #549] add new gimbalrotor model: birotor #550

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merge after #549

what is this

Add a new package "birotor", which is under-actuated model with 2 thrusters and vectoring freedoms.

how to run

roslaunch birotor bringup.launch real_machine:=false simulation:=true headless:=false

sugikazu75 and others added 18 commits April 6, 2023 21:22
@sugikazu75
[trirotor] add trirotor package
add9718
@sugikazu75
[trirotor] add configs
dbb2a88
@sugikazu75
[trirotor] add urdf models
a0fab66
@sugikazu75
[trirotor] add launchers
b8cab7a
@sugikazu75
[trirotor][control] add plugin of conrtol and model
37854a9
@sugikazu75
[trirotor] add dae of baselink of trirotor
d6a21fc
@sugikazu75
[trirotor] add plugins directory to catkin_package_share_destination
51e4dd4
@sugikazu75
[trirotor][navigation] add navigation of trirotor
14641d8
[Trirotor][model] override model update function in order to consider…
bfbf3b5 
… baselink rotation.
[Trirotor][Controller] add coordination conversion of target wrench.
968bdd5
[Trirotor][Controller] add another roll-pitch gain for simulation.
36fd38c
[Trirotor][Cotroller] add thrust mask calculation function
fb9cb9a
[Trirotor][Controller] modified gains for simulation
968869e
[Gimbalrotor][new] add new package for gimbalrotor robot based on tri…
b9b21ac 
…rotor package
[Gimbalrotor][Controller&Model] Workaound new controling and modeling…
8602fd4 
… method using local coordinates of each thrust.
[Gimbalrotor][URDF]add urdf model of ant module
08747cd
[Gimbalrotor][URDF]modified gimbalrotor urdf
11203c4
[Gimbalrotor][Model] delete unused fuction for mask calculation.
47b4b05
@sugikazu75 sugikazu75 mentioned this pull request May 10, 2023
Open
sugihara and others added 11 commits May 14, 2023 13:45
[Gimbalrotor][Control]add the new mode in which gimbale angles are ca…
f5f0dba 
…lculated in spinal
[Spinal][Controller]add the new mode in which target gimbal angles ar…
50ce647 
…e calculated in spinal
[Gimbalrotor][URDF]modified upper limit angle of gimbal joint for KRS…
a8093e5 
…-3304R2
@sugihara-16
Merge remote-tracking branch 'kazuki/develop/spinal/jsk_lib/kondo' in…
5f52c42 
…to develop/trirotor_se
@sugihara-16
[Spinal][KondoServo] add converter from Kondoposition to rad and the …
5ad386a 
…reverse.
@sugihara-16
[Spinal][KondoServo] add new accessor to change the servo target_post…
993ef25 
…ions.
@sugihara-16
[Spinal][Controller]share the pointer of kondo servo instance to cont…
7877365 
…rol gimbal angles.
@sugihara-16
[Spinal][KondoServo][WIP] supressed uart read fanction and modified f…
c1016c2 
…reertos priority for smooth servo control.
@sugihara-16
[Spinal][Flightcontroller]Add a new portion to send target gimbal ang…
c518583 
…les.
@sugihara-16
[Gimbalrotor] add joint state publisher for updating robot model.
4961bf6
@sugihara-16
[Gimbalrotor] modified estimation mode
41aad6f
sugihara-16 and others added 24 commits March 22, 2024 15:23
@sugihara-16
[Gimbalrotor][WIP] workaround attitude control without disired coordi…
21db277 
…nates
@sugihara-16
[Gimablrotor] add build depending on spinal
05935fc
@sugihara-16
[Gimbalrotor][Control][WIP] workaround debug of some error of control…
c2b908f 
… value

1. considering gyro moment
2. modified a method to convert target thrust to gimbal angle
@sugihara-16
[Gimbalrotor][Model] revive desired coordinates
c996fd6
@sugihara-16
[Gimbalrotor] change nav vel thresh
0300203
@sugihara-16
[Gimablrotor][control] corrected the mecthod to calculate target gimb…
10a0908 
…al angle (accumlation of i term during tilted flight is solved)
@sugihara-16
[Gimbalrotor][Spinal][Controller] workaround enabling 2-dof gimbal an…
34284b5 
…gle caluculation in Spinal
@sugihara-16
[Gimbalrotor][Control][Spinal] fixed bug in the case of gimbal angle …
3af47e2 
…is caluculated in pc
@sugihara-16
Merge branch 'master' into develop/gimbal_rotor
c410b6a
@sugihara-16
[Gimablrotor]workaround catching up to origin
1029f32
@sugihara-16
[Spinal][Dynamixel] limit the situation in which offset and torque pa…
a6d1bfa 
…rameter can be set to only during torqe off state.
@sugihara-16
[Spinal][Dynamixel] modified maximum servo number from 4 to 8.
0f0cc83
@sugihara-16
[Spinal][servo] Create README for servo interface
7c147cb
@sugihara-16
[Spinal][Servo] resize the servo message as same as maximum servo num.
ae4e197
@sugihara-16
Merge branch 'PR/Spinal/dynamixel' into develop/gimbal_rotor
23f6243
@sugihara-16
[Spinal] workaround to use direct servo interface in flight controller
ec507fb
@sugihara-16
[Gimbalrotor][dragonfly] create new profile for dragonfly
30679dd
@sugihara-16
[Gimbalrotor][dragonfly] workaround to enable aerial transformation o…
0515454 
…f dragonfly
@sugihara-16
[ServoBridge] workaroud to use servo profiles in spinal firmware.
60257d9
@sugihara-16
[Spibal][Controller] workaround to use new servo interface in attitud…
259e42e 
…e controller
@sugihara-16
[Gimbalrotor][Dragonfly] modified config files for real machine.
15d1282
@sugihara-16
[Gimbalrotor][Dragonfly] change rotor direction as same as real machine.
079d9a4
@sugihara-16
[Gimbalrotor] modified motor profile
f2ed8e4
@sugihara-16
[Gimbalrotor][dragonfly] change gains
50f5058
@sugikazu75
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@Li-Jinjie
to try birotor and trirotor, please use following command
roslaunch gimbalrotor bringup.launch real_machine:=false simulation:=true headless:=false airframe:=bi
roslaunch gimbalrotor bringup.launch real_machine:=false simulation:=true headless:=false airframe:=tri

@sugihara-16
If 2 dof gimbal type is supported, please commit to #549. I will rebase this branch.

@Li-Jinjie Li-Jinjie mentioned this pull request May 28, 2024
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2 participants
@sugikazu75 @sugihara-16