Hello
I need to make an orbit around object with facing the Object and with constant radius
So i used the circle mode and use Zed/pose topic from zed Ros2 wrapper as a position reference
The problem is when i run the circle mode it gives about half circle Cw and suddenly stops and gives left yaw (ccw) and then continues left diagonal motion and sometimes it moves unexpectedly
and this is my script to gives the pose to mavros
#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
from geometry_msgs.msg import PoseStamped
from nav_msgs.msg import Odometry
import math
from transforms3d.euler import euler2quat # استخدمنا transforms3d بدل tf_transformations
# ======== CONFIG ========
CIRCLE_CENTER_X = 0.0 # مركز الدايرة X (متر)
CIRCLE_CENTER_Y = 0.0 # مركز الدايرة Y (متر)
# ========================
class ZedToMavros(Node):
def __init__(self):
super().__init__('zed_to_mavros_pose')
# Subscription to ZED pose
self.sub = self.create_subscription(
PoseStamped,
'/zed/zed_node/pose',
self.callback,
10
)