Interfacing ROS and Simulink - Problem with Publishing Input Commands
Posted: Tue Apr 10, 2018 4:37 pm
Hi everyone,
I'm trying to design and implement a linear Hinfinity controller on crazyflie 2.0. I'm using a cascade controller where there will be a inner attitude controller and outer position controller. I had designed and implemented controller in Simulink. I'm thinking to use robotics system toolbox from Mathworks to interface Simulink and ROS. I want to subscribe position and velocity from ROS master and to publish thrust&torque/angular velocities of propellers. I don't have any problem with subscribing position and velocity, but the problem is I don't know how to publish thrust&torques/angular velocities. When I saw all the topics inside ROS master using rostopic list command, I didn't find any topics related to motors.The only topic I found something related to the input is crazyflie/joy.
If anyone had encountered this problem, I would like to hear from them and also any new suggestions/ideas are welcome .
Thanks in advance.
Rajavardhan, K.
I'm trying to design and implement a linear Hinfinity controller on crazyflie 2.0. I'm using a cascade controller where there will be a inner attitude controller and outer position controller. I had designed and implemented controller in Simulink. I'm thinking to use robotics system toolbox from Mathworks to interface Simulink and ROS. I want to subscribe position and velocity from ROS master and to publish thrust&torque/angular velocities of propellers. I don't have any problem with subscribing position and velocity, but the problem is I don't know how to publish thrust&torques/angular velocities. When I saw all the topics inside ROS master using rostopic list command, I didn't find any topics related to motors.The only topic I found something related to the input is crazyflie/joy.
If anyone had encountered this problem, I would like to hear from them and also any new suggestions/ideas are welcome .
Thanks in advance.
Rajavardhan, K.