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ROSBuzz_MISTLab
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Ready for final test :feelsgood: -- SOLO

This commit is contained in:
isvogor 2017-02-23 21:10:49 -05:00
parent 12ca11b275
commit 5f4aaeb1e0
4 changed files with 605 additions and 622 deletions
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13
include/roscontroller.h
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@ -11,9 +11,9 @@
#include "mavros_msgs/State.h"
#include "mavros_msgs/BatteryStatus.h"
#include "mavros_msgs/Mavlink.h"
#include "sensor_msgs/NavSatStatus.h"
#include "mavros_msgs/WaypointPush.h"
#include "mavros_msgs/Waypoint.h"
#include "sensor_msgs/NavSatStatus.h"
#include <sensor_msgs/LaserScan.h>
#include <rosbuzz/neigh_pos.h>
#include <sstream>
@ -86,7 +86,7 @@ private:
ros::ServiceClient mission_client;
void Initialize_pub_sub(ros::NodeHandle n_c);
void Initialize_pub_sub(ros::NodeHandle n_c);
/*Obtain data from ros parameter server*/
void Rosparameters_get(ros::NodeHandle n_c);
@ -153,16 +153,15 @@ private:
void Arm();
void SetMode();
void SetMode(std::string mode, int delay_miliseconds);
void SetModeAsync(std::string mode, int delay_miliseconds);
//void SetModeAsync(std::string mode, int delay);
void Subscribe(ros::NodeHandle n_c);
void WaypointMissionSetup(float lat, float lng, float alg);
void WaypointMissionSetup(float lat, float lng, float alt);
void fc_command_setup();
};
}

3
launch/rosbuzz-testing.launch
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@ -26,12 +26,11 @@
<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" />
<param name="No_of_dev" type="int" value="3" />
<param name="Xbee_Out_To_Controller" type="str" value="mav_dji_cmd" />
<!-- run rosbuzz -->
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<rosparam file="/home/pi/ros_catkin_ws/src/ROSBuzz/launch/launch_config/solo.yaml"/>
<param name="bzzfile_name" value="/home/pi/ros_catkin_ws/src/ROSBuzz/src/testalone.bzz" />
<param name="bzzfile_name" value="/home/pi/ros_catkin_ws/src/ROSBuzz/src/testflockfev.bzz" />
<param name="rcclient" value="true" />
<param name="rcservice_name" value="/buzzcmd" />
<param name="in_payload" value="/inMavlink"/>

997
src/buzz_utility.cpp
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File diff suppressed because it is too large Load Diff

214
src/roscontroller.cpp
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@ -1,6 +1,7 @@
#include "roscontroller.h"
#include <thread>
namespace rosbzz_node{
/***Constructor***/
@ -76,7 +77,6 @@ namespace rosbzz_node{
/*sleep for the mentioned loop rate*/
timer_step+=1;
maintain_pos(timer_step);
}
/* Destroy updater and Cleanup */
//update_routine(bcfname.c_str(), dbgfname.c_str(),1);
@ -162,11 +162,13 @@ namespace rosbzz_node{
neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>("/neighbours_pos",1000);
/* Service Clients*/
arm_client = n_c.serviceClient<mavros_msgs::CommandBool>(armclient);
mission_client = n_c.serviceClient<mavros_msgs::WaypointPush>("/mavros/mission/push");
mode_client = n_c.serviceClient<mavros_msgs::SetMode>(modeclient);
mav_client = n_c.serviceClient<mavros_msgs::CommandLong>(fcclient_name);
mission_client = n_c.serviceClient<mavros_msgs::WaypointPush>("/mavros/mission/push");
multi_msg=true;
armstate = 0;
}
void roscontroller::Subscribe(ros::NodeHandle n_c){
@ -226,6 +228,18 @@ namespace rosbzz_node{
}
}
void roscontroller::SetMode(){
mavros_msgs::SetMode set_mode_message;
set_mode_message.request.base_mode = 0;
set_mode_message.request.custom_mode = "GUIDED"; // shit!
if(mode_client.call(set_mode_message)) {
ROS_INFO("Set Mode Service call successful!");
} else {
ROS_INFO("Set Mode Service call failed!");
}
}
void roscontroller::WaypointMissionSetup(float lat, float lng, float alt){
mavros_msgs::WaypointPush srv;
mavros_msgs::Waypoint waypoint;
@ -241,36 +255,46 @@ namespace rosbzz_node{
srv.request.waypoints.push_back(waypoint);
if(mission_client.call(srv)){
ROS_INFO("Mission service called!");
ROS_INFO("Waypoint setup service called!");
} else {
ROS_INFO("Mission service failed!");
ROS_INFO("Waypoint setup service failed!");
}
}
void roscontroller::SetMode(std::string mode, int delay_miliseconds){
// wait if necessary
if (delay_miliseconds > 0){
std::this_thread::sleep_for( std::chrono::milliseconds ( delay_miliseconds ) );
}
// set mode
mavros_msgs::SetMode set_mode_message;
set_mode_message.request.base_mode = 0;
set_mode_message.request.custom_mode = mode;
if(mode_client.call(set_mode_message)) {
ROS_INFO("Set Mode Service call successful!");
} else {
ROS_INFO("Set Mode Service call failed!");
void roscontroller::fc_command_setup(){
/* flight controller client call if requested from Buzz*/
/*FC call for takeoff,land and gohome*/
int tmp = buzzuav_closures::bzz_cmd();
double* goto_pos = buzzuav_closures::getgoto();
if (tmp == 1){
cmd_srv.request.param7 = goto_pos[2];
//cmd_srv.request.z = goto_pos[2];
cmd_srv.request.command = buzzuav_closures::getcmd();
if (mav_client.call(cmd_srv)){
ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success);
}
else
ROS_ERROR("Failed to call service from flight controller");
} else if (tmp == 2) { /*FC call for goto*/
/*prepare the goto publish message */
cmd_srv.request.param5 = goto_pos[0];
cmd_srv.request.param6 = goto_pos[1];
cmd_srv.request.param7 = goto_pos[2];
cmd_srv.request.command = buzzuav_closures::getcmd();
if (mav_client.call(cmd_srv)){ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); }
else ROS_ERROR("Failed to call service from flight controller");
cmd_srv.request.command = mavros_msgs::CommandCode::CMD_MISSION_START;
if (mav_client.call(cmd_srv)){ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); }
else ROS_ERROR("Failed to call service from flight controller");
} else if (tmp == 3) { /*FC call for arm*/
Arm();
}
}
//todo: this
void roscontroller::SetModeAsync(std::string mode, int delay_miliseconds){
std::thread([&](){SetMode(mode, delay_miliseconds);}).detach();
cout << "Async call called... " <<endl;
}
// TODO: split this
/*Prepare messages for each step and publish*/
/*******************************************************************************************************/
/* Message format of payload (Each slot is uint64_t) */
@ -278,34 +302,51 @@ namespace rosbzz_node{
/*| | | | | | */
/*|Pos x|Pos y|Pos z|Size in Uint64_t|robot_id|Buzz_msg_size|Buzz_msg|Buzz_msgs with size......... | */
/*|_____|_____|_____|________________________________________________|______________________________| */
/*******************************************************************************************************/
/*******************************************************************************************************/
void roscontroller::prepare_msg_and_publish(){
/* flight controller client call if requested from Buzz*/
/*FC call for takeoff,land and gohome*/
int tmp = buzzuav_closures::bzz_cmd();
double* goto_pos = buzzuav_closures::getgoto();
if (tmp == 1){
cmd_srv.request.param7 = goto_pos[2];
//cmd_srv.request.z = goto_pos[2];
cmd_srv.request.command = buzzuav_closures::getcmd();
if (mav_client.call(cmd_srv)){ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); }
else ROS_ERROR("Failed to call service from flight controller");
} else if (tmp == 2) { /*FC call for goto*/
/*prepare the goto publish message */
cmd_srv.request.param5 = goto_pos[0];
cmd_srv.request.param6 = goto_pos[1];
cmd_srv.request.param7 = goto_pos[2];
cmd_srv.request.command = buzzuav_closures::getcmd();
if (mav_client.call(cmd_srv)){ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); }
else ROS_ERROR("Failed to call service from flight controller");
cmd_srv.request.command = mavros_msgs::CommandCode::CMD_MISSION_START;
if (mav_client.call(cmd_srv)){ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); }
else ROS_ERROR("Failed to call service from flight controller");
} else if (tmp == 3) { /*FC call for arm*/
Arm();
if(fcclient_name == "/mavros/cmd/command"){
int tmp = buzzuav_closures::bzz_cmd();
double* goto_pos = buzzuav_closures::getgoto();
switch(tmp){
// TAKEOFF -- LAND
case 1:
if(!armstate){
SetMode("LOITER", 0);
Arm();
armstate = 1;
SetMode("GUIDED", 2000);
}
cmd_srv.request.param7 = goto_pos[2];
cmd_srv.request.command = buzzuav_closures::getcmd();
// just to be safe -- while landing!
if(armstate == 1 && buzzuav_closures::getcmd() == 22){
SetMode("GUIDED", 0);
}
if (mav_client.call(cmd_srv)){
ROS_INFO("Reply: %ld", (long int) cmd_srv.response.success);
}
else
ROS_ERROR("Failed to call service from flight controller");
break;
// GOTO
case 2:
WaypointMissionSetup(goto_pos[0], goto_pos[1], goto_pos[2]);
break;
// ARM
case 3:
Arm();
break;
}
} else {
fc_command_setup();
}
/*obtain Pay load to be sent*/
/*obtain Pay load to be sent*/
//fprintf(stdout, "before getting msg from utility\n");
uint64_t* payload_out_ptr= buzz_utility::out_msg_process();
uint64_t position[3];
@ -316,10 +357,10 @@ namespace rosbzz_node{
payload_out.payload64.push_back(position[1]);
payload_out.payload64.push_back(position[2]);
/*Append Buzz message*/
uint16_t* out = buzz_utility::u64_cvt_u16(payload_out_ptr[0]);
uint16_t* out = buzz_utility::u64_cvt_u16(payload_out_ptr[0]);
for(int i=0;i<out[0];i++){
payload_out.payload64.push_back(payload_out_ptr[i]);
}
}
/*int i=0;
uint64_t message_obt[payload_out.payload64.size()];
for(std::vector<long unsigned int>::const_iterator it = payload_out.payload64.begin();
@ -340,13 +381,13 @@ namespace rosbzz_node{
else message_number++;
payload_out.sysid=(uint8_t)robot_id;
payload_out.msgid=(uint32_t)message_number;
/*publish prepared messages in respective topic*/
payload_pub.publish(payload_out);
delete[] out;
delete[] payload_out_ptr;
if((int)get_update_mode()!=CODE_RUNNING && is_msg_present()==1 && multi_msg){
uint8_t* buff_send = 0;
uint16_t updater_msgSize=*(uint16_t*) (getupdate_out_msg_size());;
@ -390,10 +431,10 @@ namespace rosbzz_node{
// mavros_msgs::Mavlink stop_req_packet;
// stop_req_packet.payload64.push_back((uint64_t) XBEE_STOP_TRANSMISSION);
// payload_pub.publish(stop_req_packet);
// std::cout << "request xbee to stop multi-packet transmission" << std::endl;
// std::cout << "request xbee to stop multi-packet transmission" << std::endl;
//}
}
@ -586,7 +627,7 @@ namespace rosbzz_node{
}
}
/*battery status callback*/
/*battery status callback*/
void roscontroller::battery(const mavros_msgs::BatteryStatus::ConstPtr& msg){
buzzuav_closures::set_battery(msg->voltage,msg->current,msg->remaining);
//ROS_INFO("voltage : %d current : %d remaining : %d",msg->voltage, msg->current, msg ->remaining);
@ -601,7 +642,7 @@ namespace rosbzz_node{
buzzuav_closures::flight_status_update(1);
else if (msg->mode == "LAND")
buzzuav_closures::flight_status_update(4);
else
else // ground standby = LOITER?
buzzuav_closures::flight_status_update(1);//?
}
@ -614,7 +655,7 @@ namespace rosbzz_node{
set_cur_pos(msg->latitude,msg->longitude,msg->altitude);
buzzuav_closures::set_currentpos(msg->latitude,msg->longitude,msg->altitude);
}
/*Obstacle distance call back*/
/*Obstacle distance call back*/
void roscontroller::obstacle_dist(const sensor_msgs::LaserScan::ConstPtr& msg){
float obst[5];
for(int i=0;i<5;i++)
@ -629,8 +670,8 @@ namespace rosbzz_node{
/*| | | | | | */
/*|Pos x|Pos y|Pos z|Size in Uint64_t|robot_id|Buzz_msg_size|Buzz_msg|Buzz_msgs with size......... | */
/*|_____|_____|_____|________________________________________________|______________________________| */
/*******************************************************************************************************/
/*******************************************************************************************************/
void roscontroller::payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg){
/*Ack from xbee about its transfer complete of multi packet*/
@ -705,9 +746,25 @@ namespace rosbzz_node{
delete[] out;
buzz_utility::in_msg_process((message_obt+3));
}
}
void roscontroller::SetMode(std::string mode, int delay_miliseconds){
// wait if necessary
if (delay_miliseconds > 0){
std::this_thread::sleep_for( std::chrono::milliseconds ( delay_miliseconds ) );
}
// set mode
mavros_msgs::SetMode set_mode_message;
set_mode_message.request.base_mode = 0;
set_mode_message.request.custom_mode = mode;
if(mode_client.call(set_mode_message)) {
ROS_INFO("Set Mode Service call successful!");
} else {
ROS_INFO("Set Mode Service call failed!");
}
}
/* RC command service */
bool roscontroller::rc_callback(mavros_msgs::CommandLong::Request &req,
mavros_msgs::CommandLong::Response &res){
@ -720,19 +777,14 @@ namespace rosbzz_node{
ROS_INFO("RC_call: TAKE OFF!!!!");
rc_cmd=mavros_msgs::CommandCode::NAV_TAKEOFF;
/* arming */
<<<<<<< HEAD
SetMode();
cout << "ARM: " << armstate <<endl;
if(!armstate) {
armstate =1;
armstate = 1;
SetMode("LOITER", 0);
Arm();
if(fcclient_name == "/mavros/cmd/command") { SetMode("LOITER", 2000); }
}
=======
SetMode("LOITER", 0);
//SetMode("GUIDED", 0);
cout << "this..." << endl;
SetModeAsync("GUIDED", 2000);
Arm();
>>>>>>> 4ac9d89f7c5e82fe99a48f616c587efd01d50ddd
buzzuav_closures::rc_call(rc_cmd);
res.success = true;
break;
@ -759,25 +811,12 @@ namespace rosbzz_node{
res.success = true;
break;
case mavros_msgs::CommandCode::NAV_WAYPOINT:
ROS_INFO("RC_Call: GO TO!!!! ");
//WaypointMissionSetup();
double rc_goto[3];
double rc_goto[3];
rc_goto[0] = req.param5;
rc_goto[1] = req.param6;
rc_goto[2] = req.param7;
WaypointMissionSetup(req.param5, req.param6, req.param7);
/*
WaypointMissionSetup(45.505293f, -73.614722f, 2.0f);
std::this_thread::sleep_for( std::chrono::milliseconds ( 100 ) );
WaypointMissionSetup(45.505324f, -73.614502f, 2.0f);
std::this_thread::sleep_for( std::chrono::milliseconds ( 100 ) );
WaypointMissionSetup(45.505452f, -73.614655f, 2.0f);
std::this_thread::sleep_for( std::chrono::milliseconds ( 100 ) );
WaypointMissionSetup(45.505463f, -73.614389f, 2.0f);
std::this_thread::sleep_for( std::chrono::milliseconds ( 100 ) );
*/
buzzuav_closures::rc_set_goto(rc_goto);
rc_cmd=mavros_msgs::CommandCode::NAV_WAYPOINT;
@ -797,4 +836,3 @@ namespace rosbzz_node{
}