The new Lidar Lite V3 sensor may be useful for height control of a quadcopter. We want to integrate one of this sensors into our new Asctec Firefly quadcopter for safe indoor flight. The first step of the integration is a complete sensor characterization in order to determine its parameters. Experimental setup Materials: Arduino UNO Electrolytic …
First let’s start with some basic assumptions. We define a 2D environment of size x_max, y_max. We can easily represent this environment in Python as a Grid of size (x_max, y_max). The resolution of this Grid is not important for now, since later it is possible to convert Grid values to meters for example. We …
Potential Field Navigation: Obstacle definition in Python using a Gaussian Field Read More »
The robotic platform Robotino is a nice omnidirectional Robot manufactured by the company Festo. It was surprising for me to find out that the Robot Simulator VREP doesn’t have a working model of this robot, even though there exist an opensource model of this robot for the simulator Gazebo. Just like I did before for …
Robotino Vrep scene with twist message controller (ROS) Read More »
Vrep has a very nice quadrotor model, however for my research I needed a controller based on velocity Twist messages obtained from ROS. Quadcopter simulated in Vrep I programmed a new LUA control script for the quadcopter based on the original script. With this new script it is possible to control the quadrotor using Twist …
Vrep quadrotor control script using Twist messages from ROS Read More »
The following is a guide on how to start using QtCreator in order to build projects in ROS Indigo (Ubuntu 14.04) with the new Catkin Tools. 1) Install Qt Creator: 2) Install the new Catkin Tools 3) Create a catkin workspace with catkin init. It will be assumed that the workspace is configured in ~/catkin_ws 3.1) …