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Documentation
4.2
Abeje Y. Mersha and Rüesch Andreas
ROS Package: air logger
brief summary logs the flight data for offline analysis, namely the following ROS topics:
/teleop/haptic_state, /teleop/force_feedback/, /fcu/control, /fcu/debug, /fcu/imu_custom/,
/air_odometry. The topics are stored in separated text file in the current directory, thus it is recommended to change into the desired directory before starting this node. Furthermore, note that,
new data is added at the end of the files, thus it is recommended to use different directories for
different experiments.
requirements the ros package requires the following packages to be installed: std_msgs, geometry_msgs,
nav_msgs, hapticteleop_msgs and asctec_hl_comm
installation the following procedure is recommended:
1. make sure the package is within your ROS_PACKAGE_PATH
2. run the following command:
roscd air_logger/
cmake CMakeList.txt
rosmake
configurations -
4.3
ROS Package: omega6
brief summary provides an ROS interface for the interaction with the Force Dimension Omega.6 haptic
device. It publishes the current state of the haptic device and displays a desired force feedback to
the operator. This package makes use of the HapticSDK provided by Force Dimension. See [8] for
a detailed documentation of the HapticSDK.
requirements the Omega6 has to be installed on the machine, see section 3.1, furthermore, the package
requires the following ros packages to be installed: std_msgs, geometry_msgs and
hapticteleop_msgs
installation the following procedure is recommended:
1. make sure the package is within your ROS_PACKAGE_PATH
2. run the following command:
roscd omega6/
cmake CMakeList.txt
rosmake
configurations -
4.4
ROS Package: udpServer
brief summary server of th UDP bridge between the tracker ground station and the aerial vehicle, it
puplishes the received estimation of the UAV’s pose within ROS. A warning is puplished if the node
does not receive a message form the ground station within a certain time period.
requirements the package requires the following ros packages to be installed: std_msgs, geometry_msgs
and nav_msgs, tf, roscpp and asctec_hl_comm
installation the following procedure is recommended:
1. make sure the package is within your ROS_PACKAGE_PATH
2. run the following command:
August 26, 2011
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