how to control the position of the propeller

[octopusF]

hi, I want to control the position of the Bebop's propeller, but I do not know how to do it. In the multirotor_base. urdf. xacro, I notice the plugin "librotors_gazebo_motor_model.so" , and I think it controls the velocity of the propeller , I want to know if the plugin "librotors_gazebo_motor_model.so" could control the position of the propeller? And how?
Thank you.

[welcome]

Thanks for opening your first issue here! Make sure that no other issues on the same topic have already been opened!

[gsilano]

What do you mean with "the position of the propeller"? If you want to change the geometry, i.e., the distance of the propellers in terms of x and y-coordinates, just change this line

BebopS/urdf/bebop_base.urdf.xacro

Lines 72 to 73 in 79d4c8d

	<origin xyz="0.08440513 -0.09784210 ${rotor_offset_top}" rpy="0 0 0" />
	<xacro:insert_block name="rotor_inertia" />

BebopS/urdf/bebop_base.urdf.xacro

Lines 95 to 96 in 79d4c8d

	<origin xyz="0.08440513 0.09784210 ${rotor_offset_top}" rpy="0 0 0" />
	<xacro:insert_block name="rotor_inertia" />

BebopS/urdf/bebop_base.urdf.xacro

Lines 120 to 121 in 79d4c8d

	<origin xyz="-0.06853580 0.09784210 ${rotor_offset_top}" rpy="0 0 0" />
	<xacro:insert_block name="rotor_inertia" />

BebopS/urdf/bebop_base.urdf.xacro

Lines 145 to 146 in 79d4c8d

	<origin xyz="-0.06853580 -0.09784210 ${rotor_offset_top}" rpy="0 0 0" />
	<xacro:insert_block name="rotor_inertia" />

[octopusF]

hi,@gsilano. I did not make myself clear. The velocity of the propeller can be controlled by sending commands in the terminal:
$ rostopic pub /gazebo/command/motor_speed mav_msgs/Actuators '{angular_velocities: [1000, 1000, 1000, 1000]}'
I sent the command
$ rostopic pub /gazebo/command/motor_speed mav_msgs/Actuators '{angles: [1, 1, 1, 1]}'
to control the angle of the propeller, but this does not work. So how to change the angle of the propeller.
Thank you.

[gsilano]

If you need to change it in real-time, during the simulation, as I understand, you would like to simulate a fully actuated platform as described in these papers.

Comparison of Control Methods for Trajectory Tracking in Fully Actuated Unmanned Aerial Vehicles
Full Pose Tracking for a Tilt-Arm Quadrotor UAV
Modeling and control of FAST-Hex: A fully-actuated by synchronized-tilting hexarotor

In this case, it is better to open an issue in RotorS, the repository used as the basis for BebopS.

Instead, if you need to change the rotors configuration before starting the simulation, simply change the rpy="0 0 0" of the part of the code mentioned before.

[octopusF]

@gsilano thank you for your reply. I think I have got the answer.