Individual motor control

ros.md

Individual motor control

ROS

1. Configure servo\d_function to RC_IN, one for each channel

2. Restart the autopilot after configuring all parameters, can be done when changing the last parameter or via the Autopilot Firmware page

3. Install and open the ROS extension

4. Select the bottom left corner terminal, hit control-c, and change the fcu_url adding the "ids" parameter, will look something like this:

   while true; do sleep 10; /ros_entrypoint.sh roslaunch mavros apm.launch fcu_url:=tcp://0.0.0.0:5777@/?ids=255,240; done

Note the "/?ids=255,240", this will change the system_id and component_id of mavros to operate as a ground control station. This is necessary for MANUAL_CONTROL and RC_OVERRIDE to work.

5. Select the bottom right corner terminal and hit ctrl-b " space this will split the terminal in two vertically. You can also right click the terminal and click in vertical split.

6. On the first terminal, run: `/ros_entrypoint.sh rostopic pub -r 10 /mavros/rc/override mavros_msgs/OverrideRCIn '[1600, 1575, 1550, 1450, 1425, 1400, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]'`. This will publish different values per motor.
7. To see the published values, you can run the following command on the second terminal. /ros_entrypoint.sh rostopic echo /mavros/rc/out

8. On cockpit, you can configure multiple mini widgets, one per motor.