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New Crowdin translations - ko (#26037)
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@@ -203,85 +203,85 @@ The Lua script works by extracting the `obstacle_distance_fused` data at each ti
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2. Configure PX4 to publish obstacle distance data (so that it is available to PlotJuggler):
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Add the [`obstacle_distance_fused`](../msg_docs/ObstacleDistance.md) UORB topic to your [`dds_topics.yaml`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) so that it is published by PX4:
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Add the [`obstacle_distance_fused`](../msg_docs/ObstacleDistance.md) UORB topic to your [`dds_topics.yaml`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) so that it is published by PX4:
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```sh
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- topic: /fmu/out/obstacle_distance_fused
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type: px4_msgs::msg::ObstacleDistance
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```
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```sh
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- topic: /fmu/out/obstacle_distance_fused
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type: px4_msgs::msg::ObstacleDistance
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```
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For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in [uXRCE-DDS](../middleware/uxrce_dds.md) (PX4-ROS 2/DDS Bridge)\_.
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For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in [uXRCE-DDS](../middleware/uxrce_dds.md) (PX4-ROS 2/DDS Bridge)\_.
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3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
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In the **Script Editor** tab, add following scripts in the appropriate sections:
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In the **Script Editor** tab, add following scripts in the appropriate sections:
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- **Global code, executed once:**
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- **Global code, executed once:**
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```lua
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obs_dist_fused_xy = ScatterXY.new("obstacle_distance_fused_xy")
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obs_dist_min = Timeseries.new("obstacle_distance_minimum")
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```
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```lua
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obs_dist_fused_xy = ScatterXY.new("obstacle_distance_fused_xy")
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obs_dist_min = Timeseries.new("obstacle_distance_minimum")
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```
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- **function(tracker_time)**
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- **function(tracker_time)**
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```lua
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obs_dist_fused_xy:clear()
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```lua
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obs_dist_fused_xy:clear()
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i = 0
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angle_offset = TimeseriesView.find("/fmu/out/obstacle_distance_fused/angle_offset")
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increment = TimeseriesView.find("/fmu/out/obstacle_distance_fused/increment")
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min_dist = 65535
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i = 0
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angle_offset = TimeseriesView.find("/fmu/out/obstacle_distance_fused/angle_offset")
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increment = TimeseriesView.find("/fmu/out/obstacle_distance_fused/increment")
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min_dist = 65535
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-- Cache increment and angle_offset values at tracker_time to avoid repeated calls
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local angle_offset_value = angle_offset:atTime(tracker_time)
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local increment_value = increment:atTime(tracker_time)
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-- Cache increment and angle_offset values at tracker_time to avoid repeated calls
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local angle_offset_value = angle_offset:atTime(tracker_time)
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local increment_value = increment:atTime(tracker_time)
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if increment_value == nil or increment_value <= 0 then
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print("Invalid increment value: " .. tostring(increment_value))
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return
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end
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if increment_value == nil or increment_value <= 0 then
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print("Invalid increment value: " .. tostring(increment_value))
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return
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end
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local max_steps = math.floor(360 / increment_value)
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local max_steps = math.floor(360 / increment_value)
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while i < max_steps do
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local str = string.format("/fmu/out/obstacle_distance_fused/distances[%d]", i)
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local distance = TimeseriesView.find(str)
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if distance == nil then
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print("No distance data for: " .. str)
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break
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end
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while i < max_steps do
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local str = string.format("/fmu/out/obstacle_distance_fused/distances[%d]", i)
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local distance = TimeseriesView.find(str)
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if distance == nil then
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print("No distance data for: " .. str)
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break
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end
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local dist = distance:atTime(tracker_time)
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if dist ~= nil and dist < 65535 then
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-- Calculate angle and Cartesian coordinates
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local angle = angle_offset_value + i * increment_value
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local y = dist * math.cos(math.rad(angle))
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local x = dist * math.sin(math.rad(angle))
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local dist = distance:atTime(tracker_time)
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if dist ~= nil and dist < 65535 then
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-- Calculate angle and Cartesian coordinates
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local angle = angle_offset_value + i * increment_value
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local y = dist * math.cos(math.rad(angle))
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local x = dist * math.sin(math.rad(angle))
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obs_dist_fused_xy:push_back(x, y)
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obs_dist_fused_xy:push_back(x, y)
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-- Update minimum distance
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if dist < min_dist then
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min_dist = dist
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end
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end
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-- Update minimum distance
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if dist < min_dist then
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min_dist = dist
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end
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end
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i = i + 1
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end
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i = i + 1
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end
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-- Push minimum distance once after the loop
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if min_dist < 65535 then
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obs_dist_min:push_back(tracker_time, min_dist)
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else
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print("No valid minimum distance found")
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end
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```
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-- Push minimum distance once after the loop
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if min_dist < 65535 then
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obs_dist_min:push_back(tracker_time, min_dist)
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else
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print("No valid minimum distance found")
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end
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```
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4. Enter a name for the script on the top right, and press **Save**.
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Once saved, the script should appear in the _Active Scripts_ section.
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Once saved, the script should appear in the _Active Scripts_ section.
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5. Start streaming the data using the approach described in [Plotting uORB Topic Data in Real Time using PlotJuggler](../debug/plotting_realtime_uorb_data.md).
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You should see the `obstacle_distance_fused_xy` and `obstacle_distance_minimum` timeseries on the left.
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You should see the `obstacle_distance_fused_xy` and `obstacle_distance_minimum` timeseries on the left.
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Note that you have to press **Save** again to re-enable the scripts after loading a new log file or otherwise clearing data.
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@@ -125,15 +125,15 @@ Perform the following checks to verify that VIO is working properly _before_ you
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이러한 단계가 유지되면, 첫 번째 비행을 시도할 수 있습니다.
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1. Put the vehicle on the ground and start streaming `ODOMETRY` feedback (as above).
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스로틀 스틱을 내리고 모터를 작동시키십시오.
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스로틀 스틱을 내리고 모터를 작동시키십시오.
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이때 왼쪽 스틱을 가장 낮은 위치에 놓고, 위치 제어로 전환합니다.
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초록불이 켜져야 합니다.
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녹색 표시등은 위치 피드백을 사용할 수 있고, 위치 제어가 활성화되었음을 알려줍니다.
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이때 왼쪽 스틱을 가장 낮은 위치에 놓고, 위치 제어로 전환합니다.
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초록불이 켜져야 합니다.
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녹색 표시등은 위치 피드백을 사용할 수 있고, 위치 제어가 활성화되었음을 알려줍니다.
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2. 기체가 고도를 유지하도록 스로틀 스틱을 중간(데드 존)에 놓습니다.
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스틱을 올리면 기준 고도가 증가하고 값을 낮추면 감소합니다.
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Similarly, the other stick will change the position over the ground.
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스틱을 올리면 기준 고도가 증가하고 값을 낮추면 감소합니다.
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Similarly, the other stick will change the position over the ground.
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3. Increase the value of the throttle stick and the vehicle will take off. Move it back to the middle immediately afterwards.
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