Fixed bugs with launching and clarified some parameters.

rosplane/scripts/rosplane_gcs_launch.sh

@@ -165,7 +165,7 @@ fi
 
 # Check to see if rc_sim has been passed an arg
 if $rc_sim; then
-  tmux send-keys -t rosplane_sim_session:0.3 'ros2 run rosflight_sim rc_sim.py --ros-args --remap RC:=/fixedwing/RC' C-m
+  tmux send-keys -t rosplane_sim_session:0.3 'ros2 run rosflight_sim rc.py --ros-args --remap RC:=/fixedwing/RC' C-m
 fi
 
 if $sim; then

rosplane/src/controller_base.cpp

@@ -41,8 +41,8 @@ controller_base::controller_base()
 void controller_base::declare_parameters()
 {
   // Declare default parameters associated with this controller, controller_base
-  params.declare_bool("roll_command_override", false);
-  params.declare_bool("pitch_command_override", false);
+  params.declare_bool("roll_command_override", false); // TODO: move this to controller_successive_loop.
+  params.declare_bool("pitch_command_override", false); // TODO: move this to controller_successive_loop.
   params.declare_double("pwm_rad_e", 1.0);
   params.declare_double("pwm_rad_a", 1.0);
   params.declare_double("pwm_rad_r", 1.0);

rosplane/src/controller_total_energy.cpp

@@ -155,7 +155,7 @@ void controller_total_energy::update_energies(float va_c, float va, float h_c, f
   // For readability, declare parameters here that will be used in this function
   double mass = params.get_double("mass");
   double gravity = params.get_double("gravity");
-  double max_energy = params.get_double("max_energy");
+  double max_alt_error = params.get_double("max_alt_error");
 
   // Calculate the error in kinetic energy.
   K_error = 0.5 * mass * (pow(va_c, 2) - pow(va, 2));
@@ -164,7 +164,7 @@ void controller_total_energy::update_energies(float va_c, float va, float h_c, f
   K_ref = 0.5 * mass * pow(va_c, 2);
 
   // Calculate the error in the potential energy.
-  U_error = mass * gravity * sat(h_c - h, max_energy, -max_energy);
+  U_error = mass * gravity * sat(h_c - h, max_alt_error, -max_alt_error);
 }
 
 void controller_total_energy::declare_parameters()
@@ -180,6 +180,6 @@ void controller_total_energy::declare_parameters()
 
   params.declare_double("mass", 2.28);
   params.declare_double("gravity", 9.8);
-  params.declare_double("max_energy", 5.0);
+  params.declare_double("max_alt_error", 5.0);
 }
 } // namespace rosplane

rosplane_msgs/msg/Command.msg

@@ -18,4 +18,4 @@ uint8 ignore # bitmask for ignore specific setpoint values
 float32 x
 float32 y
 float32 z
-float32 f # This threw an error with the original name of F
+float32 f

rosplane_sim/launch/sim.launch.py

@@ -34,16 +34,5 @@ def generate_launch_description():
             package = 'rosplane_sim',
             executable='rosplane_gazebo_truth_publisher',
             name='gazebo_truth'
-        ),
-        Node(
-            package='rosplane_tuning',
-            executable='data_viz.py',
-            name='uav_plotter',
-            parameters=[{
-                'use_sim_time': False,
-                't_horizon': 100.,
-                'plot_sensors': False
-            }],
-            output='screen'
         )
     ])

rosplane_sim/launch/sim_tuning.launch.py

@@ -34,17 +34,6 @@ def generate_launch_description():
             package = 'rosplane_sim',
             executable='rosplane_gazebo_truth_publisher',
             name='gazebo_truth'
-        ),
-        Node(
-            package='rosplane_tuning',
-            executable='data_viz.py',
-            name='uav_plotter',
-            parameters=[{
-                'use_sim_time': False,
-                't_horizon': 100.,
-                'plot_sensors': False
-            }],
-            output='screen'
         )
     ])