From 8aa0a5937762bc07752a2a235495e23c08f168d3 Mon Sep 17 00:00:00 2001 From: Baris Yazici Date: Wed, 11 Sep 2024 22:31:19 +0200 Subject: [PATCH] Resolves #67 update Readme --- ingenuity_mars_helicopter/README.md | 24 +++++++++++++++---- .../sdf/ingenuity_world.sdf | 4 ++-- 2 files changed, 21 insertions(+), 7 deletions(-) diff --git a/ingenuity_mars_helicopter/README.md b/ingenuity_mars_helicopter/README.md index a897a663..802469b9 100644 --- a/ingenuity_mars_helicopter/README.md +++ b/ingenuity_mars_helicopter/README.md @@ -19,10 +19,6 @@ Each folder is a ROS 2 package. Each package has their own README.md file explai ## Setup -This project builds on `openrobotics/space_robots_demo` docker image. To build that docker image follow the instructions at this [README](https://github.com/space-ros/docker/blob/main/moveit2/README.md). To build that image, you also need to build the spaceros base image. You can access that [here](https://github.com/space-ros/space-ros). - -After ensuring you have the `openrobotics/space_robots_demo` docker image. Go ahead and clone this repo. - 1. Clone this repository: ```bash git clone git@github.com:BarisYazici/demos.git @@ -133,7 +129,25 @@ graph TD class G visualization; ``` +## Topics + +The following table explains the key topics used in the Ingenuity Flight Simulator: + +| Topic Name | Description | Data Type | Direction | +|------------|-------------|-----------|-----------| +| `/angle_of_attack` | Controls the collective pitch of the rotor blades | `ignition.msgs.Double` | Input to Simulation | +| `/alpha_c` | Lateral cyclic control input | `ignition.msgs.Double` | Input to Simulation | +| `/alpha_s` | Longitudinal cyclic control input | `ignition.msgs.Double` | Input to Simulation | +| `/desired_altitude` | Sets the target altitude for the flight controller | `ignition.msgs.Double` | Input to Controller | +| `/imu` | Provides IMU sensor data from the Ingenuity model | `ignition.msgs.IMU` | Output from Simulation | +| `/altimeter` | Provides altitude data from the Ingenuity model | `ignition.msgs.Altimeter` | Output from Simulation | +| `/camera` | Provides camera feed from the Ingenuity model | `ignition.msgs.Image` | Output from Simulation | +| `/wrench/ingenuity_model/blade_1` | Forces and torques applied to blade 1 | `ignition.msgs.Wrench` | Output from Simulation | +| `/wrench/ingenuity_model/blade_2` | Forces and torques applied to blade 2 | `ignition.msgs.Wrench` | Output from Simulation | +| `/wrench/ingenuity_model/blade_3` | Forces and torques applied to blade 3 | `ignition.msgs.Wrench` | Output from Simulation | +| `/wrench/ingenuity_model/blade_4` | Forces and torques applied to blade 4 | `ignition.msgs.Wrench` | Output from Simulation | + ## License -Apache License 2.0 \ No newline at end of file +Apache License 2.0 diff --git a/ingenuity_mars_helicopter/ingenuity_description/sdf/ingenuity_world.sdf b/ingenuity_mars_helicopter/ingenuity_description/sdf/ingenuity_world.sdf index 2b1570cc..097e1ef7 100644 --- a/ingenuity_mars_helicopter/ingenuity_description/sdf/ingenuity_world.sdf +++ b/ingenuity_mars_helicopter/ingenuity_description/sdf/ingenuity_world.sdf @@ -24,11 +24,11 @@ between -0.0349066 and 0.139626 radians(2 to 8 degrees) ign topic -t /angle_of_attack -m ignition.msgs.Double -p "data: 0.1" - Publish the longitudinal cyclic control: + Publish the lateral cyclic control: between -0.00001 to 0.00001 ign topic -t /alpha_c -m ignition.msgs.Double -p "data: 0.00001" - Publish the lateral cyclic control: + Publish the longitudinal cyclic control: between -0.00001 to 0.00001 ign topic -t /alpha_s -m ignition.msgs.Double -p "data: 0.00001"