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Go To Pose
- Summary
- Phase 1 - does an arc turn
- Phase 2
- Works as intended
- Switches to phase 3, and then phase 1
- Appears to overshoot destination
- Never saw behavior change
- Gets stuck in navigate_to_gate
- mavros-utils
- ghnav → main
- extraneous branches deleted
- navigate_to_pose.py
- It works fine in sim?
- Does not work right in the real world
- Shrey’s plan
- Rebuild container to check dependency versions are all correct
- Perhaps check ArduPilot parameters are identical
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Controller
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ArduPilot config needs to be updated to enable reverse R/C
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What was happening with the mode changes???
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Light tower
- manual mode and disarm indicator
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publish orientation marker to rviz for visual debug
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Manual switching from loiter
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Debugging plan for navigate_to_pose
- navigate_to_pose.py code review - anyone
- triple check repo versions
- look at bag file - Aaron taking a look tomorrow
- throttle topics both positive?
- side-by-side check ArduPilot parameters
- what kind of testing?
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rviz dropped towards end
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ardupilot needs bigger deadzone on R/C and motors?