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ROSBuzz_MISTLab
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open loop, xbee wait

This commit is contained in:
isvogor 2017-05-09 21:38:14 -04:00
parent cbdc5a6db2
commit 6a1c51fbd3
2 changed files with 9 additions and 8 deletions
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2
launch/rosbuzz-solo.launch
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@ -30,7 +30,7 @@
<!-- run rosbuzz --> <!-- run rosbuzz -->
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" > <node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<rosparam file="/home/pi/ros_catkinKin_ws/src/ROSBuzz/launch/launch_config/solo.yaml"/> <rosparam file="/home/pi/ros_catkinKin_ws/src/ROSBuzz/launch/launch_config/solo.yaml"/>
<param name="bzzfile_name" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/script/testflockfev.bzz" /> <param name="bzzfile_name" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/script/testsolo.bzz" />
<param name="rcclient" value="true" /> <param name="rcclient" value="true" />
<param name="rcservice_name" value="/buzzcmd" /> <param name="rcservice_name" value="/buzzcmd" />
<param name="in_payload" value="/inMavlink"/> <param name="in_payload" value="/inMavlink"/>

15
src/roscontroller.cpp
View File

@ -36,11 +36,12 @@ namespace rosbzz_node{
robot_id= strtol(robot_name.c_str() + 5, NULL, 10); robot_id= strtol(robot_name.c_str() + 5, NULL, 10);
setpoint_counter = 0; setpoint_counter = 0;
fcu_timeout = TIMEOUT; fcu_timeout = TIMEOUT;
//ros::Duration(0.1).sleep();
while(cur_pos[2] == 0.0f){
ROS_INFO("Waiting for GPS. ");
ros::Duration(0.5).sleep();
ros::spinOnce();
}
} }
/*--------------------- /*---------------------
@ -58,7 +59,7 @@ namespace rosbzz_node{
void roscontroller::GetRobotId() void roscontroller::GetRobotId()
{ {
/* ///*
mavros_msgs::ParamGet::Request robot_id_srv_request; robot_id_srv_request.param_id="id"; mavros_msgs::ParamGet::Request robot_id_srv_request; robot_id_srv_request.param_id="id";
mavros_msgs::ParamGet::Response robot_id_srv_response; mavros_msgs::ParamGet::Response robot_id_srv_response;
while(!xbeestatus_srv.call(robot_id_srv_request,robot_id_srv_response)){ while(!xbeestatus_srv.call(robot_id_srv_request,robot_id_srv_response)){
@ -67,8 +68,8 @@ namespace rosbzz_node{
} }
robot_id=robot_id_srv_response.value.integer; robot_id=robot_id_srv_response.value.integer;
*/
robot_id = 8; //robot_id = 8;
} }
/*------------------------------------------------- /*-------------------------------------------------