EuRoC Forum

[danielserrano]

Hello,

I was hoping to fly the gazebo model by sending Joy messages to the /firefly/joy topic as suggested in the technical annex in page 12. Obviously, just for debugging. But my gazebo ros node, launched with euroc_simulation_server and any launch file for tasks 3 and 4, is not subscribing to this topic.

Did I miss something?

Regards,
Daniel.

[markusachtelik]

hi,

you can enable this by adding the following into the launch files for T3 and T4 in the simulation VM:

Code: Select all

<node ns="firefly" name="joy_node" pkg="joy" type="joy_node" />
<node ns="firefly" name="mav_joy_interface" pkg="mav_joy_interface" type="mav_joy_interface" />


We didn't put it in there in the end to avoid interference with contestant's controllers.

You may have to play around a bit with the axes and direction assignment, depending on your joystick. You can find the parameters in mav_joy_interface/src/joy.cpp

Hope that helps, and sorry for the confusion!