How to run the simulated Drone Fiacre/Hippo experiment
Providing you have properly synthesized and compiled the fiacre/hippo executable, you can now run it in place of the regular genom3 modules.
cd ~/work/drone/scripts ./start-simu-hippo.sh
You will get the Gazebo window again and the main window will look like:
From top to bottom, you habe:
- the gazebo pane
- the hippo pane where the 5 modules are now running in the same Hippo process (maneuver, nhfc, rotorcraft, optitrack and pom)
- the bottom pane is the eltclsh pane similar to the one in the regular experiment.
Thus, you can run the experiment exactly like the regular GenoM one (see run).
Select the eltclsh pane, and type:
eltclsh > source start.tcl eltclsh > init eltclsh > setup
You can get the robot to navigate with commands like:
eltclsh > ::maneuver::goto {x -2 y -3 z 2 yaw 3 duration 0}
eltclsh > fly_around
You can also inject a fault by delaying the pom port state (position) publishing.
eltclsh > ::pom::SetDelay 220000