From bb06580aaabb5ba4530d620e72bb8e6158d2ccb3 Mon Sep 17 00:00:00 2001 From: Louis-Guillaume DUBOIS Date: Tue, 21 Jul 2015 19:24:14 +0200 Subject: [PATCH] =?UTF-8?q?r=C3=A9vision=20README-en?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README-en.md | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) diff --git a/README-en.md b/README-en.md index 6d49680..541f4bf 100644 --- a/README-en.md +++ b/README-en.md @@ -72,7 +72,7 @@ The parameters of the filter (that can be changed thanks to `dynamic_reconfigure - `delta_hue` : between 10 and 20 ; - `sat/val_min` : 0.0 ; - `sat/val_max` : 1.0 ; -* pour un gant *noir* : +* for a *black* glove : - `hue` : 0 ; - `delta_hue` : 180 ; - `sat_min` : 0.0 ; @@ -90,7 +90,7 @@ Always with `rqt_reconfigure`, but with the `estimator` node : * Connect the computer to the wifi network of the drone ; * Launch the "launchfile" ardrone.launch : `roslaunch hand_control ardrone.launch` ; -* Taking of : +* Taking off : - whether `rostopic pub /ardrone/takeoff std_msgs/Empty` ; - or launch the node keyboard_cmd : `rosrun hand_control keyboard_cmd` and use *t* on the keyboard. * Landing : @@ -102,16 +102,15 @@ Always with `rqt_reconfigure`, but with the `estimator` node : ### Hand steering ### -* -* Forward/Reverse & side translations : hand tilt ; +* Forward/backward & side translations : hand tilt ; * Rotate (around the vertical axis z) : angle of the hand with the the axis parallel to the ground and perpendicular to the kinect ; -* Climb/Descend : hand height. +* go up/go down : hand height. ### Options and parameters of the command ### To edit the options of the command, change (if not already) `rosrun rqt_reconfigure rqt_reconfigure` : -- `max_curvature` : not used today ; +- `max_curvature` : not used for the moment ; - `x/y/z/theta_minimal_deviation` : thresholds required above which the movement of the hand is not taken into account. If all are 0.0, the drone responds linearly. * x, y : between 0. and 1. (corresponding to the x and y of the normal to the plane); * z : in meters ; @@ -138,8 +137,8 @@ To quit : CTRL+C and press "Enter" to return to the console. # Problems - Possible improvements # -- Si des commandes sont publiées sur `cmd_vel` (depuis la Kinect par exemple) après le lancement du fichier `ardrone.launch` et avant le décollage du drone, alors, après le décollage, de drone semble obéir aux commandes publiées avant le décollage. +- If commands are published on `cmd_vel` (from the Kinect for instance) after the launch of `ardrone.launch` and before the takeoff, then, after the takeoff, the drone seems to obey to commands published before the takeoff. -- Comme écrit plus haut, l’affichage des informations reçues du drone sur `keyboard_cmd` n’est mise à jour qu’à l’occasion de l’appui sur une touche, et peut donc rester fixe quand on n’utilise pas la commande au clavier. +- As written above, the display of navigation data on `keyboard_cmd` is only updated when a key is pressed, and can therefore stay fixed when the keyboard commander is not used. -- Le décollage/atterrissage n’est pas possible à commander avec la main. Il faut utiliser le clavier (`keyboard_cmd` ou `rostopic pub`) à la place. Il est possible de de remédier à cela en créant deux nouveaux seuils, minimaux et maximaux, pour la hauteur de la main : une main très basse ferait atterrir le drone, une main très haute le ferait décoller. +- The takeoff/landing is not controllable with the hand. The keyboard must be used (`keyboard_cmd` or `rostopic pub`) instead. We can correct this by creating two new thresholds, minimal and maximal, for the hand height : a very low hand would make the drone land and a very high hand would make the drone take off.