mirror of https://github.com/ArduPilot/ardupilot
115 lines
3.5 KiB
Python
115 lines
3.5 KiB
Python
#!/usr/bin/env python
|
|
"""
|
|
Python interface to euroc ROS multirotor simulator
|
|
See https://pixhawk.org/dev/ros/sitl
|
|
"""
|
|
|
|
import time
|
|
|
|
import mav_msgs.msg as mav_msgs
|
|
import px4.msg as px4
|
|
import rosgraph_msgs.msg as rosgraph_msgs
|
|
import rospy
|
|
import sensor_msgs.msg as sensor_msgs
|
|
|
|
from aircraft import Aircraft
|
|
from pymavlink.rotmat import Vector3, Matrix3
|
|
|
|
|
|
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()
|