Problems encountered in Gazebo

[zhao77tiantian]

Hello，Execution：roslaunch mavros_off-board mavros_posix_til.launch, there were no abnormalities, but the aircraft model was not displayed after Gazebo was started. However, execution: rosrun mavros_off-board offc_node, the white quadframe was able to take off normally. Execution: rosrun mavros_off-board teleop_node_pos, unable to control flight through keyboard. No matter how it is operated, the white tripod will shake violently, making it impossible to control it to fly to the landing point and land normally. The command roslaunch object_detector simu. launch can also be executed normally, but the terminal will always display 'no object detected'.

Since there were no abnormalities in the terminal when this issue occurred, I don't know how to deal with it. Can you help me take a look? Thank you very much!

[MikeS96]

Hi @zhao77tiantian, controlling the drone with the teleop_node_pos is indeed challenging. Maybe try to lower the default speed and see if it helps. Regarding the detector, you need to tune it. In the paper we obtained the best results using SIFT/SURF.

[zhao77tiantian]

The plane can take off normally, but it cannot move horizontally and can only stay in place. Where is the source code for manually controlling an airplane

[MikeS96]

The source code for the teleop script is in the project. here it is for reference. Something I can think off is that you are trying to teleop the drone while the offboard node set_offb is still running. If this is the case, maybe try to kill it and then teleop. Maybe use the node offb_node instead of set_offb but again, remember to kill it.

It is hard to diagnose more with the provided info, is the teleop node running? can you echo the topic?