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Hack/force sensor #686

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Hack/force sensor #686

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maxb91
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@maxb91 maxb91 commented Nov 18, 2021

Changes w.r.t. master:

  • Added force/torque sensor plugin
  • Added measurement divisor to IMU plugin
  • Parameterizations of PID gains for OMAV tilt angles

In my opinion the naming 'hack' is a bit misleading as it only refers to rotating the force/torque measurements into our commonly used frame before publishing them. (line shown below)

As the changes should not interfere with any other existing simulations I'd suggest we should merge it to master.

wrench_msg_.wrench.force.x = -force[2];

@maxb91 maxb91 self-assigned this Nov 18, 2021
@ethzasl-jenkins
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Can one of the admins verify this patch?

clanegge and others added 3 commits October 9, 2022 14:03
servo motor number was incremented by hardcoded value 12. This only works if you have 12 normal motors....
Macro now requires the number of the tilt-motor to be specified.
Only changed for single-rotor unit (for now) to keep backwards compatibility with the old OMAV
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