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What is the correct form for the parameter_bridge of the X3 quadcopter model for motor_speed topic?

asked 2022-09-27 08:39:46 -0600

sendilkelm gravatar image


based on the page link text

I have launched after adaptation for the gazebo garden a X3 drone example:

console #1: gz sim quadcopter.sdf

console #2: gz topic -t /X3/gazebo/command/motor_speed --msgtype gz.msgs.Actuators -p 'velocity:[700, 700, 700, 700]'

And it works, I can control the motors independently (what I need). I am now trying to incorporate ROS2 into the task. How to build a bridge for this topic?

The start is probably there, but what next?

ros2 run ros_gz_bridge parameter_bridge /model/X3/????????????
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answered 2022-10-13 21:57:22 -0600

azeey gravatar image

The mapping for that message type is currently not implemented in ROS 2 ( look for Actuators and see TODO). It is implemented for ROS Melodic since the corresponding ROS message mav_msgs/Actuatorsis available in Melodic (see, but not in later versions.

My recommendation would be to use the MulticopterVelocityControl system as shown in this example.

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Asked: 2022-09-27 08:39:46 -0600

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Last updated: Oct 13 '22