Drone not following trajectory

[SamH122]

Drone is taking off but the trajectory is not getting generated so the it is hovering at one place. The output of the Trajectory section of the Tmux pane:


At the start of the trajectory section, "Openravepy not found!" message is printed even though I have downloaded Openrave.

[fpetric]

Can you make sure that competition topp config is loaded by checking the param server?

[SamH122]

Yes it is loaded

[fpetric]

To try to get the drone to move, are you sending a message to input_pose or input_trajectory topic?

[SamH122]

Yes we are publishing to PoseStamped but still the drone is just hovering. Does generate_toppra_trajectory.py have anything to do with creating the trajectory as top_ros.srv Service is not being called.

[fpetric]

Not sure how to debug this. On my machine with clean install of the stack, I do get the openrave error too, but the node seems to work fine when I send a pose to the tracker:

rostopic pub -1 /red/tracker/input_pose geometry_msgs/PoseStamped "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
pose:
  position:
    x: 10.0
    y: 10.0
    z: 10.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0"

If this does not work on your end, can you paste the output of the trajectory generation tmux window?

[fpetric]

From your output it does seem that you are not loading the same config file for the topp tracker as I am, as the default for the tracker should be not to use odom, did you change the config or session file?