velocity_cmd

Introduction

This project send topic to set velocity to ardupilot via mavros and displays actual (gps) velocity. Those information are useful for system identification for velocity model. This project is originally made to work with the following tutorial for identification of the velocity model. http://docs.erlerobotics.com/simulation/vehicles/erle_copter/tutorial_5

System requirements

• Ubuntu 14.04.5
• ROS Indigo
• Configure the simulation environment following: http://docs.erlerobotics.com/simulation/configuring_your_environment

Usages

Suppose the ROS catkin workspace is ~/simulation/ros_catkin_ws/.

cd ~/simulation/ros_catkin_ws/

Edit the source file

gedit ~/simulation/ros_catkin_ws/src/velocity_cmd/velocity_cmd.cpp

Make

cd ~/simulation/ros_catkin_ws/
catkin_make --pkg velocity_cmd

Run

roscore
cd ~/simulation/ros_catkin_ws/
source ./devel/setup.bash 
rosrun velocity_cmd velocity_cmd 

Topic echo

rostopic echo /mavros/setpoint_velocity/cmd_vel