David Millard's profile - activity

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2020-12-02 11:46:21 -0500	commented answer	Name-Dependent Plugin Topics I received an email about this answer recently over confusion on what to change. The relevant values are in https://gith
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2013-01-28 13:51:19 -0500	asked a question	hector_quadrotor not responding to cmd_vel I'm using the `hector_quadrotor` package, and tyring to simulate in gazebo. The simulated bot does not respond to commands over `cmd_vel`, from command line (`rostopic pub`), from a custom keyboard teleop node, or even from `rosrun hector_quadrotor_controller test_trajectory`. I'm launching gazebo and spawning the drone using `$ roslaunch hector_gazebo_worlds rolling_landscape_120m.launch $ roslaunch hector_quadrotor_gazebo spawn_quadrotor.launch` I'm sure it's something simple I'm overlooking, but help would be appreciated! Further tests show that `cmd_vel` does nothing with `$ roslaunch hector_quadrotor_gazebo quadrotor_empty_world.launch $ rosrun hector_quadrotor_controller test_trajectory` either.
2013-01-18 13:35:10 -0500	answered a question	Name-Dependent Plugin Topics Figured it out: tum_simulator hardcodes some paths as absolute. Removing the leading '/' from relevant topics (`/ardrone/takeoff`, `/ardrone/land`, `/ardrone/reset`, etc) in the `cvg_sim_gazebo_plugins` package fixed it up.
2013-01-17 12:42:34 -0500	asked a question	Name-Dependent Plugin Topics I'm trying to simulate multiple (2) AR.Drone Parrot quatrotors in gazebo. I'm using the tum_simulator package, which in turn presents the same interface as the ardrone_autonomy driver for the real-world drones. I can spawn a single drone without error, and fly it around programmatically with roscpp. I can also spawn multiple drones without error by duplicating the launch code and surrounding it with `<group ns="drone{0,1}">` tags. After manipulating some `tf` parameters, the drones spawn without error. The simulator subscribes to properly namespaced topics, for the most part. For example, instead of `/cmd_vel`, there are now two topics `/drone0/cmd_vel` and `/drone1/cmd_vel`. However, topics to control takeoff and landing are hardcoded in a gazebo plugin as `/ardrone/{takeoff,landing,reset}`, and `rxgraph` shows that these topics are not duplicated between namespaces, they remain prefixed only by `/ardrone`. How is it possible to have the plugin offer namespaced topics that are linked up to each drone?