From 863546477f066d0c63af33615a98c2c78cfe94b9 Mon Sep 17 00:00:00 2001
From: David St-Onge <david.st-onge@polymtl.ca>
Date: Mon, 14 Nov 2016 17:51:32 -0500
Subject: [PATCH] topic changes

---
 launch/rosbuzz.launch |   4 ++--
 src/out.basm          |  49 ++++++++++++++++++++++++++++++++++++++++++
 src/out.bdbg          | Bin 0 -> 858 bytes
 src/out.bo            | Bin 0 -> 148 bytes
 src/roscontroller.cpp |   4 ++--
 src/test.bzz          |  17 +--------------
 6 files changed, 54 insertions(+), 20 deletions(-)
 create mode 100644 src/out.basm
 create mode 100644 src/out.bdbg
 create mode 100644 src/out.bo

diff --git a/launch/rosbuzz.launch b/launch/rosbuzz.launch
index d79ce4d..df715b1 100644
--- a/launch/rosbuzz.launch
+++ b/launch/rosbuzz.launch
@@ -2,10 +2,10 @@
 
 <launch>
 	<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >	
-		<param name="bzzfile_name" value="../catkin_ws/src/rosbuzz/src/test.bzz" />
+		<param name="bzzfile_name" value="../ROS_WS/src/ROSBuzz/src/test.bzz" />
                 <param name="rcclient" value="true" /> 
 		<param name="rcservice_name" value="rc_cmd" />
-		<param name="fcclient_name" value="fc_cmd" />
+		<param name="fcclient_name" value="djicmd" />
 	</node>
      		<param name="robot_id" value="1"/>
 </launch>
diff --git a/src/out.basm b/src/out.basm
new file mode 100644
index 0000000..267387d
--- /dev/null
+++ b/src/out.basm
@@ -0,0 +1,49 @@
+!8
+'init
+'step
+'print
+'bzz print: voltage: 
+'battery
+'voltage
+'reset
+'destroy
+
+	pushs 0
+	pushcn @__label_1
+	gstore
+	pushs 1
+	pushcn @__label_2
+	gstore
+	pushs 6
+	pushcn @__label_3
+	gstore
+	pushs 7
+	pushcn @__label_4
+	gstore
+	nop
+
+@__label_0
+
+@__exitpoint
+	done
+
+@__label_1
+	ret0	|4,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+
+@__label_2
+	pushs 2	|9,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	gload	|9,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 3	|9,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 4	|9,37,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	gload	|9,37,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushs 5	|9,38,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	tget	|9,45,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	pushi 2	|9,46,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	callc	|9,46,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+	ret0	|11,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+
+@__label_3
+	ret0	|15,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
+
+@__label_4
+	ret0	|19,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
diff --git a/src/out.bdbg b/src/out.bdbg
new file mode 100644
index 0000000000000000000000000000000000000000..8e25df40a76121a4c7b14777cef3c96cfe585421
GIT binary patch
literal 858
zcmXSBU|?VYVh~`2Pz*W@`WgATsrsc!rFkW#`a%A|@!`Sx#YM>=rc-HE6_{O;T3n)+
zR8>_1)Wr$a$x4<9l@yy$g=7L7S#GFDGC`Fr6Iv)Xp%uvlHL~2$g=B&*StfKNnV?6O
f2@@zbVIt53Zm8YlrO8P^-TV}pFd3*@m?9GZJyF`q

literal 0
HcmV?d00001

diff --git a/src/out.bo b/src/out.bo
new file mode 100644
index 0000000000000000000000000000000000000000..862cdf5c0bddb46a01dc7f9c0f9c05d19a9842a9
GIT binary patch
literal 148
zcmXZQ(Fwvp5QO20aWx$%D7dzfZW3JNK$37b2uT^*u)Bxz@bfVp(v*loTd?Fb5#zRL
zRj=>)#o=kaVjM`zEB+6%6(b&2nCBG=-@SOw+5}m72!1M$!EX?a=+1G{)~owU@m_9m
HUq$2xd3hYL

literal 0
HcmV?d00001

diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 597c632..8f9554f 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -79,8 +79,8 @@ namespace rosbzz_node{
 
 	void roscontroller::Initialize_pub_sub(){
 		/*subscribers*/
-  		current_position_sub = n_c.subscribe("current_pos", 1000, &roscontroller::current_pos,this);
-  		battery_sub = n_c.subscribe("battery_state", 1000, &roscontroller::battery,this);
+  		current_position_sub = n_c.subscribe("/dji_sdk/global_position", 1000, &roscontroller::current_pos,this);
+  		battery_sub = n_c.subscribe("/dji_sdk/power_status", 1000, &roscontroller::battery,this);
   		payload_sub = n_c.subscribe("inMavlink", 1000, &roscontroller::payload_obt,this);
   		/*publishers*/
 		payload_pub = n_c.advertise<mavros_msgs::Mavlink>("outMavlink", 1000);
diff --git a/src/test.bzz b/src/test.bzz
index c24846e..0c6a535 100644
--- a/src/test.bzz
+++ b/src/test.bzz
@@ -1,27 +1,12 @@
 # Executed once at init time.
 function init() {
-i=1
-s = swarm.create(10)
-s.join()
 
 }
  
 # Executed at each time step.
 function step() {
 
-# print all the neighbours position
-neighbors.foreach(
-  function(rid, data) {
-    print("robot ", rid, ": ",
-        "distance  = ", data.distance, ", ",
-        "azimuth   = ", data.azimuth, ", ",
-        "elevation = ", data.elevation) })
-if(i==1){
-s.exec(function() {uav_gohome()})
-}
-else{
-s.exec(function() {uav_goto(1.1234,2.2345,3.3456)})
-}
+print("bzz print: voltage: ", battery.voltage)
 
 }