[Task1]: The contact between UAV and Truck seems wired in the motion tracking of UAV

[tongtybj]

I wrote a basic motion tracking code based on the PID feed-back control and truck trajectory feed-forward control. Both control part are using the ground-truth value(position of UAV/Trcuk).

Most part of motion tracking seems good. You can try the "motion_tracking" branch in my repository(tongtybj).
step1: catkin build "jsk_mbzirc"
step2: roslaunch jsk_mbzirc_tasks jsk_mbzirc_task_1.launch use_ground_truth:=false gui:=true
step3: roslaunch jsk_mbzirc_tasks task1_motion_tracking_test.launch

You can check the whole process video.
https://drive.google.com/open?id=0BwphddqBjVJ_RnYzSjh5WHJKMWc

The moment of contact between UAV and truck heiport seems wired...

The reasons I think is,

1. The relative speed between truck and UAV is not zero, this is based on the assumption that gazebo is totally right, and the "wired" contact will happen in the real world.
2. The Friction/ Bound parameter is not right and should modify

Or, we should not take too much time on the final landing process on heliport, and this part should be achieved by operating experiments in the real world.

[tongtybj]

@iKrishneel
Please check the process.
If you think it is OK, let us integrate your visual tracking

[tongtybj]

[k-okada]

The reasons I think is,

1. The relative speed between truck and UAV is not zero, this is based on
   the assumption that gazebo is totally right, and the "wired" contact will
   happen in the real world.
2. The Friction/ Bound parameter is not right and should modify

Or, we should not take too much time on the final landing process on
heliport, and this part should be achieved by operating experiments in the
real world.

for simulation, I agree your comment, you can update track plugin so
that once drone reach to the heliport, we can attach(ignore bumping,
stop update motion....) the drone to the traack

In addition to that, we'd better to check real robot's behavior? using

normal car or bicycle or cart.

◉ Kei Okada

On Mon, Jun 6, 2016 at 3:16 PM, 趙 漠居 [email protected] wrote:

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