Compilation Problem

[altshuler]

Hello,
I'm trying to compile the mavros_controllers and get compilation error:

Errors << geometric_controller:check /home/evgeny/catkin_ws/logs/geometric_controller/build.check.017.log
CMake Error at /home/evgeny/catkin_ws/devel/share/catkin_simple/cmake/catkin_simple-extras.cmake:38 (find_package):
By not providing "Findeigen_catkin.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"eigen_catkin", but CMake did not find one.

Could not find a package configuration file provided by "eigen_catkin" with
any of the following names:

eigen_catkinConfig.cmake
eigen_catkin-config.cmake

Add the installation prefix of "eigen_catkin" to CMAKE_PREFIX_PATH or set
"eigen_catkin_DIR" to a directory containing one of the above files. If
"eigen_catkin" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
CMakeLists.txt:7 (catkin_simple)

make: *** [cmake_check_build_system] Error 1

What you think is a problem ?

Best regards
Evgeny

[Jaeyoung-Lim]

This is a recently added dependency. Sorry for not updating the readme.
Try installing it through the dependeincies.rosinstall in the root of the repo

cd ~/catkin_ws
wstool merge -t src mavros_controllers/dependencies.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y --rosdistro kinetic

or you can simply clone it to the src directory as the following

git clone https://github.com/ethz-asl/eigen_catkin.git

[altshuler]

Thank you very much.
This commands will update only mavros_controllers package or
all packages in workspace ? I have a packages that I don't want to update.

BR
Evgeny

[Jaeyoung-Lim]

@altshuler If you are worried about dependencies, simply clone eigen_catkin into your workspace. That should be enough

[altshuler]

Hello,
when I do roslaunch geometric_controller trajectory_track_circle.launch command.
I get this message:
ERROR: cannot launch node of type [trajectory_publisher/trajectory_publisher]: can't locate node [trajectory_publisher] in package [trajectory_publisher]

The drone just takeoff and hovering in one place.

[Jaeyoung-Lim]

Did you build the trajectory publisher?

[altshuler]

Actually, no...
I didn't get that needed to build it separately.
Any other packages should be built separately ?

[Jaeyoung-Lim]

As written in the instructions, if you build mavros_controllers it will build trajectory_publisher and geometric_controller as it depends on both

[altshuler]

Ok, thanks.
Will test it today.

[Jaeyoung-Lim]

@altshuler Any updates?

[altshuler]

I'm compiled the packages, Running simulations ,
trying to understand the code.
I have 2 questions.
Ho I can disable running Gazebo every simulation ?
What launch file runs real flight (not simulation) ?

[Jaeyoung-Lim]

@altshuler So does that mean the problem is solved?

On a real platform, you need to disable sim_enable_ parameter and not launch px4_sitl.

Currently there is no launch file specifically for a real system. Do you need one?

[altshuler]

Yes, the problem is solved.
I will try to fly on real drone.

Tanks

[Jaeyoung-Lim]

@altshuler Have you tried flying?

[altshuler]

Actually, yes. But the vehicle is not arming.
I disabled sim_enable_ parameter and px4_sitl .
And I tried it before last updates that you added to the project.
Unfortunately I have some HW problems on my Intel Aero, so I will try it
on next week.

Can you explain in couple of words what dob_controller do ?

[Jaeyoung-Lim]

Cool. Hope it works 😄

A dob_controller is a implementation of a disturbance observer based control. It tries to estimate the disturbance and compensate it. This is at a very experimental stage. It works in SITL, but flies a bit aggressively which I am not sure how it would behave on a real drone.

[Jaeyoung-Lim]

Closing as the issue is resolved