Wind Disturbance Experiment Workflow

Data Recording

Preliminaries

1. Use rope to do experiments especially for new tanh parameters
2. SSH xavier and cd albus/rover_(tab complete) and docker compose up -d
3. ros2 launch all_launch px4.launch.py on xavier

On Xavier

1. Use tmux to divide the terminal window to three panes
2. First pane: vim colcon_ws/src/trajectory_driver/trajectory_driver/circle_simple.py change parameters such as radius, center coordinate, angular velocity and height. To make drone closer to the fan, increase x value.
3. Second pane: vim colcon_ws/src/trajectory_driver/launch/circle_simple.launch.py. In the first code block after -o, change desired file name to the same parameters as previous step. r = radius, w = angular velocity, c = center, h = height, kxv = gains kx and kv, delete fanoff if needed.
4. Similar steps for figure8
5. To record circle data, ros2 launch trajectory_driver circle_simple.launch.py
6. To record figure8 data, ros2 launch trajectory_driver figureeight.launch.py
7. Outside of docker, push changes to github with git push origin foresee. Then copy and paste data into recorded data folder.

Gaussian Process and Simulation

See GP/gp_advanced/README.md for detailed walkthrough.