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Published 20 hours ago • verified publisher icon knorth55

add dragon spacenav demo

Open knorth55 opened this issue 2 years ago • 4 comments

@tongtybj I control dragon end-effector with spacenav 3D mouse. need this PR: https://github.com/JSKAerialRobot/aerial_robot/pull/490

https://user-images.githubusercontent.com/9300063/125826571-f8d36c0f-7bf6-433d-bcd3-c4d82a4beab3.mp4

knorth55 avatar Jul 15 '21 16:07 knorth55

Awesome!!!

tongtybj avatar Jul 16 '21 01:07 tongtybj

A special implemenation of DRAGON is that, the baselink is not link1, but is the link attached with IMU sensor (link2) for the purpose of stable flight control. So you can see that link2 is always level, the link1 is changing the orientation, which is different from the eus model.

So I need to convert the desired orientation of the baselink (link2) according to the result of eus IK.

tongtybj avatar Jul 16 '21 01:07 tongtybj

so, it may be better to configure as link2 as root link, link3, link4 for larm and link1 for rarm.

knorth55 avatar Jul 16 '21 16:07 knorth55

I change to link1 as head, and link3, link4 as :larm

https://user-images.githubusercontent.com/9300063/126691363-7f975780-cb9c-4bf7-b553-f040b396f0ca.mp4

knorth55 avatar Jul 22 '21 18:07 knorth55