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https://github.com/ArduPilot/ardupilot
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847c7980c7
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com> Co-authored-by: Andrew Tridgell <tridge60@gmail.com>
32 lines
1.1 KiB
C++
32 lines
1.1 KiB
C++
#if AP_DDS_ENABLED
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#include "AP_DDS_ExternalControl.h"
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#include "AP_DDS_Frames.h"
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#include <AP_ExternalControl/AP_ExternalControl.h>
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bool AP_DDS_External_Control::handle_velocity_control(geometry_msgs_msg_TwistStamped& cmd_vel)
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{
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auto *external_control = AP::externalcontrol();
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if (external_control == nullptr) {
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return false;
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}
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if (strcmp(cmd_vel.header.frame_id, MAP_FRAME) != 0) {
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// Although REP-147 says cmd_vel should be in body frame, all the AP math is done in earth frame.
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// This is because accounting for the gravity vector.
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// Although the ROS 2 interface could support body-frame velocity control in the future,
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// it is currently not supported.
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return false;
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}
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// Convert commands from ENU to NED frame
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Vector3f linear_velocity {
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float(cmd_vel.twist.linear.y),
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float(cmd_vel.twist.linear.x),
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float(-cmd_vel.twist.linear.z) };
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const float yaw_rate = -cmd_vel.twist.angular.z;
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return external_control->set_linear_velocity_and_yaw_rate(linear_velocity, yaw_rate);
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}
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#endif // AP_DDS_ENABLED
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