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ROSBuzz_MISTLab
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switched sim to kinetic-dev

This commit is contained in:
dave 2018-05-31 11:41:34 -04:00
parent c12b29538a f5a091f659
commit 0eed38147a
3 changed files with 14 additions and 14 deletions
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4
include/roscontroller.h
View File

@ -11,10 +11,10 @@
#include "mavros_msgs/ExtendedState.h"
#include "mavros_msgs/SetMode.h"
#include "mavros_msgs/State.h"
#include "mavros_msgs/BatteryStatus.h"
#include "mavros_msgs/Mavlink.h"
#include "mavros_msgs/PositionTarget.h"
#include "sensor_msgs/NavSatStatus.h"
#include "sensor_msgs/BatteryState.h"
#include "mavros_msgs/WaypointPush.h"
#include "mavros_msgs/Waypoint.h"
#include "mavros_msgs/PositionTarget.h"
@ -205,7 +205,7 @@ private:
double gps_r_lat);
/*battery status callback */
void battery(const mavros_msgs::BatteryStatus::ConstPtr& msg);
void battery(const sensor_msgs::BatteryState::ConstPtr& msg);
/*flight extended status callback*/
void flight_extended_status_update(const mavros_msgs::ExtendedState::ConstPtr& msg);

4
src/buzzuav_closures.cpp
View File

@ -400,7 +400,7 @@ int buzzuav_arm(buzzvm_t vm)
/ Buzz closure to arm
/---------------------------------------*/
{
cur_cmd = mavros_msgs::CommandCode::CMD_COMPONENT_ARM_DISARM;
cur_cmd = mavros_msgs::CommandCode::COMPONENT_ARM_DISARM;
printf(" Buzz requested Arm \n");
buzz_cmd = COMMAND_ARM;
return buzzvm_ret0(vm);
@ -411,7 +411,7 @@ int buzzuav_disarm(buzzvm_t vm)
/ Buzz closure to disarm
/---------------------------------------*/
{
cur_cmd = mavros_msgs::CommandCode::CMD_COMPONENT_ARM_DISARM + 1;
cur_cmd = mavros_msgs::CommandCode::COMPONENT_ARM_DISARM + 1;
printf(" Buzz requested Disarm \n");
buzz_cmd = COMMAND_DISARM;
return buzzvm_ret0(vm);

20
src/roscontroller.cpp
View File

@ -271,7 +271,7 @@ void roscontroller::GetSubscriptionParameters(ros::NodeHandle& node_handle)
m_smTopic_infos.insert(pair<std::string, std::string>(topic, "sensor_msgs/LaserScan"));
node_handle.getParam("topics/battery", topic);
m_smTopic_infos.insert(pair<std::string, std::string>(topic, "mavros_msgs/BatteryStatus"));
m_smTopic_infos.insert(pair<std::string, std::string>(topic, "sensor_msgs/BatteryState"));
node_handle.getParam("topics/status", topic);
m_smTopic_infos.insert(pair<std::string, std::string>(topic, "mavros_msgs/State"));
@ -367,7 +367,7 @@ void roscontroller::Subscribe(ros::NodeHandle& n_c)
{
flight_status_sub = n_c.subscribe(it->first, 5, &roscontroller::flight_status_update, this);
}
else if (it->second == "mavros_msgs/BatteryStatus")
else if (it->second == "sensor_msgs/BatteryState")
{
battery_sub = n_c.subscribe(it->first, 5, &roscontroller::battery, this);
}
@ -682,7 +682,7 @@ script
}
else
ROS_ERROR("Failed to call service from flight controller");
cmd_srv.request.command = mavros_msgs::CommandCode::CMD_MISSION_START;
cmd_srv.request.command = mavros_msgs::CommandCode::MISSION_START;
if (mav_client.call(cmd_srv))
{
ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success);
@ -720,7 +720,7 @@ script
cmd_srv.request.param2 = gimbal[1];
cmd_srv.request.param3 = gimbal[2];
cmd_srv.request.param4 = gimbal[3];
cmd_srv.request.command = mavros_msgs::CommandCode::CMD_DO_MOUNT_CONTROL;
cmd_srv.request.command = mavros_msgs::CommandCode::DO_MOUNT_CONTROL;
if (mav_client.call(cmd_srv))
{
ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success);
@ -836,12 +836,12 @@ void roscontroller::gps_convert_ned(float& ned_x, float& ned_y, double gps_t_lon
ned_y = DEG2RAD(d_lon) * EARTH_RADIUS * cos(DEG2RAD(gps_t_lat));
};
void roscontroller::battery(const mavros_msgs::BatteryStatus::ConstPtr& msg)
void roscontroller::battery(const sensor_msgs::BatteryState::ConstPtr& msg)
/*
/ Update battery status into BVM from subscriber
/------------------------------------------------------*/
{
buzzuav_closures::set_battery(msg->voltage, msg->current, msg->remaining);
buzzuav_closures::set_battery(msg->voltage, msg->current, msg->percentage*100.0);
// DEBUG
// ROS_INFO("voltage : %d current : %d remaining : %d",msg->voltage,
// msg->current, msg ->remaining);
@ -1094,8 +1094,8 @@ bool roscontroller::rc_callback(mavros_msgs::CommandLong::Request& req, mavros_m
buzzuav_closures::rc_call(rc_cmd);
res.success = true;
break;
case mavros_msgs::CommandCode::CMD_COMPONENT_ARM_DISARM:
rc_cmd = mavros_msgs::CommandCode::CMD_COMPONENT_ARM_DISARM;
case mavros_msgs::CommandCode::COMPONENT_ARM_DISARM:
rc_cmd = mavros_msgs::CommandCode::COMPONENT_ARM_DISARM;
armstate = req.param1;
if (armstate)
{
@ -1123,10 +1123,10 @@ bool roscontroller::rc_callback(mavros_msgs::CommandLong::Request& req, mavros_m
buzzuav_closures::rc_call(rc_cmd);
res.success = true;
break;
case mavros_msgs::CommandCode::CMD_DO_MOUNT_CONTROL:
case mavros_msgs::CommandCode::DO_MOUNT_CONTROL:
ROS_INFO("RC_Call: Gimbal!!!! ");
buzzuav_closures::rc_set_gimbal(req.param1, req.param2, req.param3, req.param4, req.param5);
rc_cmd = mavros_msgs::CommandCode::CMD_DO_MOUNT_CONTROL;
rc_cmd = mavros_msgs::CommandCode::DO_MOUNT_CONTROL;
buzzuav_closures::rc_call(rc_cmd);
res.success = true;
break;