what are the topics that fly a Hector_quadrotor?

asked 2018-04-04 16:11:02 -0600

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I am trying to do the following with Hector_quadrotor :

1- taking off the quadrotor to a certain altitude, lets say 2 meters and hover .

2- flying forward (along the y-direction or x-direction) while maintaining the same height (2m).

3- Acquire the quadrotor position and orientation (same as topic /odom for Turtlebot)

4- Enable a camera (if possible) on board to receive images that the quadrotor acquired ( I subscribed to the topic /camera/rgb/image_raw in the case of Turtlebot.

I dont know which topic(s) exactly should I publish in/ subscribe to do the above. I have tried to publish on the /cmd_vel topic (z=2) and it did take off and went to 2 then landed however, I want it to stay at fixed altitude during the whole process (until I send it a message to land). reason behind that is I am doing a a navigation task based on image. I use Matlab to generate the coordination (messages).

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Update: the message published on the topic /cmd_vel is (loop): velmsg.Linear.Z = 2; velmsg.Linear.Y = 1.5; (2, 2.5,3,3.5) velmsg.Linear.X = 0; each time the loop runs the quadrotor moves to new x position even though its already set to 0 ( like the quadrotor should fly only forward).

Caesar84 gravatar imageCaesar84 ( 2018-04-04 16:42:17 -0600 )edit