ardupilot/Tools/autotest/pysim/iris_ros.py

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#!/usr/bin/env python
'''
Python interface to euroc ROS multirotor simulator
See https://pixhawk.org/dev/ros/sitl
'''
from aircraft import Aircraft
import util, time, math
from math import degrees, radians
from rotmat import Vector3, Matrix3
from pymavlink.quaternion import Quaternion
import rospy
import std_msgs.msg as std_msgs
import mav_msgs.msg as mav_msgs
import rosgraph_msgs.msg as rosgraph_msgs
import sensor_msgs.msg as sensor_msgs
import px4.msg as px4
def quat_to_dcm(q1, q2, q3, q4):
'''convert quaternion to DCM'''
q3q3 = q3 * q3
q3q4 = q3 * q4
q2q2 = q2 * q2
q2q3 = q2 * q3
q2q4 = q2 * q4
q1q2 = q1 * q2
q1q3 = q1 * q3
q1q4 = q1 * q4
q4q4 = q4 * q4
m = Matrix3()
m.a.x = 1.0-2.0*(q3q3 + q4q4)
m.a.y = 2.0*(q2q3 - q1q4)
m.a.z = 2.0*(q2q4 + q1q3)
m.b.x = 2.0*(q2q3 + q1q4)
m.b.y = 1.0-2.0*(q2q2 + q4q4)
m.b.z = 2.0*(q3q4 - q1q2)
m.c.x = 2.0*(q2q4 - q1q3)
m.c.y = 2.0*(q3q4 + q1q2)
m.c.z = 1.0-2.0*(q2q2 + q3q3)
return m
class IrisRos(Aircraft):
'''a IRIS MultiCopter from ROS'''
def __init__(self):
Aircraft.__init__(self)
self.max_rpm = 1200
self.have_new_time = False
self.have_new_imu = False
self.have_new_pos = False
topics = {
"/clock" : (self.clock_cb, rosgraph_msgs.Clock),
"/iris/imu" : (self.imu_cb, sensor_msgs.Imu),
"/iris/vehicle_local_position" : (self.pos_cb, px4.vehicle_local_position),
}
rospy.init_node('ArduPilot', anonymous=True)
for topic in topics.keys():
(callback, msgtype) = topics[topic]
rospy.Subscriber(topic, msgtype, callback)
self.motor_pub = rospy.Publisher('/iris/command/motor_speed',
mav_msgs.CommandMotorSpeed,
queue_size=1)
self.last_time = 0
# spin() simply keeps python from exiting until this node is stopped
#rospy.spin()
def clock_cb(self, msg):
self.time_now = self.time_base + msg.clock.secs + msg.clock.nsecs*1.0e-9
self.have_new_time = True
def imu_cb(self, msg):
self.gyro = Vector3(msg.angular_velocity.x,
-msg.angular_velocity.y,
-msg.angular_velocity.z)
self.accel_body = Vector3(msg.linear_acceleration.x,
-msg.linear_acceleration.y,
-msg.linear_acceleration.z)
self.dcm = quat_to_dcm(msg.orientation.w,
msg.orientation.x,
-msg.orientation.y,
-msg.orientation.z)
self.have_new_imu = True
def pos_cb(self, msg):
self.velocity = Vector3(msg.vx, msg.vy, msg.vz)
self.position = Vector3(msg.x, msg.y, msg.z)
self.have_new_pos = True
def update(self, actuators):
while self.last_time == self.time_now or not self.have_new_time or not self.have_new_imu or not self.have_new_pos:
time.sleep(0.001)
self.have_new_time = False
self.have_new_pos = False
self.have_new_imu = False
# create motor speed message
msg = mav_msgs.CommandMotorSpeed()
msg.header.stamp = rospy.get_rostime()
motor_speed = []
for i in range(len(actuators)):
motor_speed.append(actuators[i]*self.max_rpm)
msg.motor_speed = motor_speed
self.last_time = self.time_now
self.motor_pub.publish(msg)
# update lat/lon/altitude
self.update_position()