- Add topic name and type to topic table.
- Use binary creation functions for participants and topics.
- Add constant for domain ID.
- Create publishers and datawriters by binary
- Create subscribers, datareaders and services by binary
- Add extra fields to the services table.
- Remove dds_xrce_profile.xml
- Document additional service table fields
- Add QoS struct to topic and service tables
- Replace profile labels with enums.
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
It was difficult to use the alias, since aliases aren't inherited by
subshells, so the only way is to run `source ~/.ardpuilot_env` again
inside the container, which doesn't seem worth it to avoid a couple of
`./` which are in all of the documentation anyway.
This script uses the scaled output from the antennatracker servos and map them to corresponding Pelco-D messages to be sent via a RS-485 interface to a motorized base (can be anything from motorized tracker to a PTZ camera).
If your FCU doesnt offer a RS-485 interface by default, you can use or TTL-RS485- or USB-RS485-adapters.
Pelco-D allows to control using either speed-/differential- or absolute-control control of the pan-/tilt-axis.
Currently the script uses speed based control using by mapping the "ContinuousRotation" type servos outputs to the corresponding Pelco-D messages.
The absolute control messages are implemented nevertheless for future use.
The script assumes therefor at least the following parameters to be set:
SCR_ENABLE = 1
SERVO_PITCH_TYPE = 2 # ContinuousRotation type servo
SERVO_YAW_TYPE = 2 # ContinuousRotation type servo
SERIALx_PROTOCOL = 28 # serial port used by luascript
Additionally the PITCH2SRV and YAW2SRV tuning needs to be done as described by the antennatracker description.
Also keep attention to the PITCH_MIN, PITCH_MAX and YAW_RANGE parameters to fit your Pelco-D hardware!
Code remains to check for use of these options and give an error which
contains the correct option to use, due to the non-intuitive mapping
between --uartX and --serialN.
A future version will remove that code too.
- ROS expects quaternions to be normalised and the default message constructor does not enforce this.
- Fix normalisation for pose stamped.
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Rhys Mainwaring
xingchengGE
radityankn
radityankn
David Buzz
David 'Buzz' Bussenschutt
Pierre Kancir
Peter Barker
Andrew Tridgell
Henry Wurzburg
Alex Burka
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Randy Mackay
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rotorman
MattKear
Thomas Watson
Andy Piper
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