rebase
This commit is contained in:
isvogor
commit
12ca11b275
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@ -15,7 +15,6 @@ find_package(catkin REQUIRED COMPONENTS
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)
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##############################
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#Generate messages#
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##############################
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add_message_files(
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@ -11,6 +11,8 @@
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#include "mavros_msgs/State.h"
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#include "mavros_msgs/BatteryStatus.h"
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#include "mavros_msgs/Mavlink.h"
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#include "mavros_msgs/WaypointPush.h"
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#include "mavros_msgs/Waypoint.h"
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#include "sensor_msgs/NavSatStatus.h"
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#include <sensor_msgs/LaserScan.h>
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#include <rosbuzz/neigh_pos.h>
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@ -82,6 +84,8 @@ private:
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mavros_msgs::SetMode m_cmdSetMode;
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ros::ServiceClient mode_client;
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ros::ServiceClient mission_client;
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void Initialize_pub_sub(ros::NodeHandle n_c);
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/*Obtain data from ros parameter server*/
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@ -149,9 +153,16 @@ private:
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void Arm();
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void SetMode();
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void SetMode(std::string mode, int delay_miliseconds);
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void SetModeAsync(std::string mode, int delay_miliseconds);
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//void SetModeAsync(std::string mode, int delay);
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void Subscribe(ros::NodeHandle n_c);
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void WaypointMissionSetup(float lat, float lng, float alg);
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};
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}
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@ -0,0 +1,47 @@
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<launch>
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<!-- RUN mavros -->
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<arg name="fcu_url" default="tcp://127.0.0.1:5760" />
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<arg name="gcs_url" default="" />
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<arg name="tgt_system" default="1" />
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<arg name="tgt_component" default="1" />
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<arg name="log_output" default="screen" />
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<include file="$(find mavros)/launch/node.launch">
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<arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml" />
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<arg name="config_yaml" value="$(find mavros)/launch/apm_config.yaml" />
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<arg name="fcu_url" value="$(arg fcu_url)" />
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<arg name="gcs_url" value="$(arg gcs_url)" />
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<arg name="tgt_system" value="$(arg tgt_system)" />
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<arg name="tgt_component" value="$(arg tgt_component)" />
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<arg name="log_output" value="$(arg log_output)" />
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</include>
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<!-- run xbee -->
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<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" />
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<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
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<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
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<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" />
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<param name="No_of_dev" type="int" value="3" />
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<!-- run rosbuzz -->
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
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<rosparam file="/home/ivan/catkin_ws/src/rosbuzz/launch/launch_config/solo.yaml"/>
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<param name="bzzfile_name" value="/home/ivan/catkin_ws/src/rosbuzz/src/testalone.bzz" />
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<param name="rcclient" value="true" />
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<param name="rcservice_name" value="/buzzcmd" />
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<param name="in_payload" value="/inMavlink"/>
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<param name="out_payload" value="/outMavlink"/>
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<param name="robot_id" value="3"/>
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<param name="No_of_Robots" value="3"/>
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<param name="stand_by" value="/home/ivan/catkin_ws/src/rosbuzz/src/stand_by.bo"/>
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</node>
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<node pkg="rosloader" type="rosloader" name="rosloader" output="screen"/>
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<!-- set streaming rate
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/mavros/cmd/arming
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<node pkg="rosservice" type="rosservice" name="stream_rate" args="call /mavros/set_stream_rate 0 10 1" />
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-->
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</launch>
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@ -0,0 +1,44 @@
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<launch>
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<!-- RUN mavros -->
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<arg name="fcu_url" default="/dev/ttyAMA0:115200" />
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<arg name="gcs_url" default="" />
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<arg name="tgt_system" default="1" />
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<arg name="tgt_component" default="1" />
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<arg name="log_output" default="screen" />
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<include file="$(find mavros)/launch/node.launch">
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<arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml" />
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<arg name="config_yaml" value="$(find mavros)/launch/apm_config.yaml" />
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<arg name="fcu_url" value="$(arg fcu_url)" />
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<arg name="gcs_url" value="$(arg gcs_url)" />
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<arg name="tgt_system" value="$(arg tgt_system)" />
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<arg name="tgt_component" value="$(arg tgt_component)" />
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<arg name="log_output" value="$(arg log_output)" />
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</include>
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<!-- set streaming rate -->
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<node pkg="rosservice" type="rosservice" name="freq" args="call /mavros/set_stream_rate 0 10 1" output="screen" />
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<!-- run xbee -->
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<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" />
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<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
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<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
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<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" />
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<param name="No_of_dev" type="int" value="3" />
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<param name="Xbee_Out_To_Controller" type="str" value="mav_dji_cmd" />
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<!-- run rosbuzz -->
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
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<rosparam file="/home/pi/ros_catkin_ws/src/ROSBuzz/launch/launch_config/solo.yaml"/>
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<param name="bzzfile_name" value="/home/pi/ros_catkin_ws/src/ROSBuzz/src/testalone.bzz" />
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<param name="rcclient" value="true" />
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<param name="rcservice_name" value="/buzzcmd" />
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<param name="in_payload" value="/inMavlink"/>
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<param name="out_payload" value="/outMavlink"/>
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<param name="robot_id" value="3"/>
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<param name="No_of_Robots" value="3"/>
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<param name="stand_by" value="/home/pi/ros_catkin_ws/src/ROSBuzz/src/stand_by.bo"/>
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</node>
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</launch>
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@ -2,15 +2,14 @@
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<launch>
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
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<rosparam file="$(env ROS_WS)/src/ROSBuzz/launch/launch_config/$(env ROBOT).yaml"/>
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<param name="bzzfile_name" value="$(env ROS_WS)/src/ROSBuzz/src/test1.bzz" />
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<rosparam file="/home/ivan/catkin_ws/src/rosbuzz/launch/launch_config/solo.yaml"/>
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<param name="bzzfile_name" value="/home/ivan/catkin_ws/src/rosbuzz/src/testalone.bzz" />
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<param name="rcclient" value="true" />
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<param name="rcservice_name" value="/buzzcmd" />
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<param name="in_payload" value="/inMavlink"/>
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<param name="out_payload" value="/outMavlink"/>
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<param name="robot_id" value="3"/>
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<param name="No_of_Robots" value="3"/>
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<param name="stand_by" value="$(env ROS_WS)/src/ROSBuzz/src/stand_by.bo"/>
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</node>
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<param name="stand_by" value="/home/ivan/catkin_ws/src/rosbuzz/src/stand_by.bo"/>
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</node>
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</launch>
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@ -0,0 +1,20 @@
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#! /bin/bash
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function takeoff {
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rosservice call /buzzcmd 0 22 0 0 0 0 0 0 0 0
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}
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function land {
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rosservice call /buzzcmd 0 21 0 0 0 0 0 0 0 0
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}
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function record {
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rosbag record /flight_status /global_position /dji_sdk/local_position /neighbours_pos /power_status /guidance/obstacle_distance /guidance/front_depth_image/compressedDepth /guidance/right_depth_image/compressedDepth /guidance/left_depth_image/compressedDepth /guidance/bottom_depth_image/compressedDepth /guidance/back_depth_image/compressedDepth
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}
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function clean {
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sudo rm /var/log/upstart/robot*
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sudo rm /var/log/upstart/x3s*
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}
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function startrobot {
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sudo service robot start
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}
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function stoprobot {
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sudo service robot stop
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}
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1000
src/buzz_utility.cpp
1000
src/buzz_utility.cpp
File diff suppressed because it is too large
Load Diff
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@ -1,4 +1,5 @@
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#include "roscontroller.h"
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#include <thread>
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namespace rosbzz_node{
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@ -161,6 +162,7 @@ namespace rosbzz_node{
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neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>("/neighbours_pos",1000);
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/* Service Clients*/
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arm_client = n_c.serviceClient<mavros_msgs::CommandBool>(armclient);
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mission_client = n_c.serviceClient<mavros_msgs::WaypointPush>("/mavros/mission/push");
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mode_client = n_c.serviceClient<mavros_msgs::SetMode>(modeclient);
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mav_client = n_c.serviceClient<mavros_msgs::CommandLong>(fcclient_name);
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@ -224,10 +226,37 @@ namespace rosbzz_node{
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}
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}
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void roscontroller::SetMode(){
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void roscontroller::WaypointMissionSetup(float lat, float lng, float alt){
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mavros_msgs::WaypointPush srv;
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mavros_msgs::Waypoint waypoint;
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// prepare waypoint mission package
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waypoint.frame = mavros_msgs::Waypoint::FRAME_GLOBAL;
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waypoint.command = mavros_msgs::CommandCode::NAV_WAYPOINT;
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waypoint.is_current = 2; // IMPORTANT: goto is no longer used, so instead, use magic number 2 for is_current parameter
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waypoint.autocontinue = 0;
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waypoint.x_lat = lat;
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waypoint.y_long = lng;
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waypoint.z_alt = alt;
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srv.request.waypoints.push_back(waypoint);
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if(mission_client.call(srv)){
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ROS_INFO("Mission service called!");
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} else {
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ROS_INFO("Mission service failed!");
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}
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}
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void roscontroller::SetMode(std::string mode, int delay_miliseconds){
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// wait if necessary
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if (delay_miliseconds > 0){
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std::this_thread::sleep_for( std::chrono::milliseconds ( delay_miliseconds ) );
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}
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// set mode
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mavros_msgs::SetMode set_mode_message;
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set_mode_message.request.base_mode = 0;
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set_mode_message.request.custom_mode = "GUIDED"; // shit!
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set_mode_message.request.custom_mode = mode;
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if(mode_client.call(set_mode_message)) {
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ROS_INFO("Set Mode Service call successful!");
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} else {
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@ -235,6 +264,12 @@ namespace rosbzz_node{
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}
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}
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//todo: this
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void roscontroller::SetModeAsync(std::string mode, int delay_miliseconds){
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std::thread([&](){SetMode(mode, delay_miliseconds);}).detach();
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cout << "Async call called... " <<endl;
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}
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/*Prepare messages for each step and publish*/
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/*******************************************************************************************************/
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@ -566,7 +601,7 @@ namespace rosbzz_node{
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buzzuav_closures::flight_status_update(1);
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else if (msg->mode == "LAND")
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buzzuav_closures::flight_status_update(4);
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else // ground standby = LOITER?
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else
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buzzuav_closures::flight_status_update(1);//?
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}
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@ -685,11 +720,19 @@ namespace rosbzz_node{
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ROS_INFO("RC_call: TAKE OFF!!!!");
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rc_cmd=mavros_msgs::CommandCode::NAV_TAKEOFF;
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/* arming */
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<<<<<<< HEAD
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SetMode();
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if(!armstate) {
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armstate =1;
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Arm();
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}
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=======
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SetMode("LOITER", 0);
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//SetMode("GUIDED", 0);
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cout << "this..." << endl;
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SetModeAsync("GUIDED", 2000);
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Arm();
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>>>>>>> 4ac9d89f7c5e82fe99a48f616c587efd01d50ddd
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buzzuav_closures::rc_call(rc_cmd);
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res.success = true;
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break;
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@ -717,11 +760,25 @@ namespace rosbzz_node{
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break;
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case mavros_msgs::CommandCode::NAV_WAYPOINT:
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ROS_INFO("RC_Call: GO TO!!!! ");
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double rc_goto[3];
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//WaypointMissionSetup();
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double rc_goto[3];
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rc_goto[0] = req.param5;
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rc_goto[1] = req.param6;
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rc_goto[2] = req.param7;
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WaypointMissionSetup(req.param5, req.param6, req.param7);
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/*
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WaypointMissionSetup(45.505293f, -73.614722f, 2.0f);
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std::this_thread::sleep_for( std::chrono::milliseconds ( 100 ) );
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WaypointMissionSetup(45.505324f, -73.614502f, 2.0f);
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std::this_thread::sleep_for( std::chrono::milliseconds ( 100 ) );
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WaypointMissionSetup(45.505452f, -73.614655f, 2.0f);
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std::this_thread::sleep_for( std::chrono::milliseconds ( 100 ) );
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WaypointMissionSetup(45.505463f, -73.614389f, 2.0f);
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std::this_thread::sleep_for( std::chrono::milliseconds ( 100 ) );
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*/
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buzzuav_closures::rc_set_goto(rc_goto);
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rc_cmd=mavros_msgs::CommandCode::NAV_WAYPOINT;
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buzzuav_closures::rc_call(rc_cmd);
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