merged with dev, tested, adapted for solo
This commit is contained in:
isvogor
parent
0cd59a91f0
commit
91a398c02b
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@ -74,7 +74,6 @@ private:
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ros::Subscriber flight_status_sub;
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ros::Subscriber obstacle_sub;
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ros::Subscriber Robot_id_sub;
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ros::Publisher local_position_pub;
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/*Commands for flight controller*/
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//mavros_msgs::CommandInt cmd_srv;
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@ -94,8 +93,6 @@ private:
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std::string current_mode; // SOLO SPECIFIC: just so you don't call the switch to same mode
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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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void Rosparameters_get(ros::NodeHandle n_c);
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@ -159,16 +156,16 @@ private:
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void Arm();
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/*set mode like guided for solo*/
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void SetMode();
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void SetMode(std::string mode, int delay_miliseconds);
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/*Robot independent subscribers*/
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void Subscribe(ros::NodeHandle n_c);
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void WaypointMissionSetup(float lat, float lng, float alt);
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//void WaypointMissionSetup(float lat, float lng, float alt);
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void fc_command_setup();
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void LocalPosition(float x, float y, float z, float yaw);
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void SetLocalPosition(float x, float y, float z, float yaw);
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};
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}
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@ -78,27 +78,7 @@ namespace buzz_utility{
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size_t tot = sizeof(uint32_t);
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/* Go through the messages until there's nothing else to read */
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uint16_t unMsgSize=0;
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<<<<<<< HEAD
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//uint8_t is_msg_pres=*(uint8_t*)(pl + tot);
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//tot+=sizeof(uint8_t);
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//fprintf(stdout,"is_updater msg present : %i\n",(int)is_msg_pres);
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//if(is_msg_pres){
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//unMsgSize = *(uint16_t*)(pl + tot);
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//tot+=sizeof(uint16_t);
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// fprintf(stdout,"%u : read msg size : %u \n",m_unRobotId,unMsgSize);
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// if(unMsgSize>0){
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// code_message_inqueue_append((uint8_t*)(pl + tot),unMsgSize);
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// tot+=unMsgSize;
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//fprintf(stdout,"before in queue process : utils\n");
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// code_message_inqueue_process();
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//fprintf(stdout,"after in queue process : utils\n");
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// }
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//}
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//unMsgSize=0;
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=======
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>>>>>>> dev
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/*Obtain Buzz messages only when they are present*/
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do {
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/* Get payload size */
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@ -128,33 +108,6 @@ namespace buzz_utility{
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/* Send robot id */
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*(uint16_t*)(buff_send+tot) = (uint16_t) VM->robot;
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tot += sizeof(uint16_t);
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<<<<<<< HEAD
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//uint8_t updater_msg_pre = 0;
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//uint16_t updater_msgSize= 0;
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//if((int)get_update_mode()!=CODE_RUNNING && is_msg_present()==1){
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// fprintf(stdout,"transfer code \n");
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// updater_msg_pre =1;
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//transfer_code=0;
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// *(uint8_t*)(buff_send + tot) = (uint8_t)updater_msg_pre;
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// tot += sizeof(uint8_t);
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/*Append updater msg size*/
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//*(uint16_t*)(buff_send + tot) = *(uint16_t*) (getupdate_out_msg_size());
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// updater_msgSize=*(uint16_t*) (getupdate_out_msg_size());
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// *(uint16_t*)(buff_send + tot)=updater_msgSize;
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//fprintf(stdout,"Updater sent msg size : %i \n", (int)updater_msgSize);
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// tot += sizeof(uint16_t);
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/*Append updater msgs*/
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// memcpy(buff_send + tot, (uint8_t*)(getupdater_out_msg()), updater_msgSize);
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// tot += updater_msgSize;
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/*destroy the updater out msg queue*/
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// destroy_out_msg_queue();
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//}
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//else{
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// *(uint8_t*)(buff_send + tot) = (uint8_t)updater_msg_pre;
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// tot += sizeof(uint8_t);
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//}
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=======
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>>>>>>> dev
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/* Send messages from FIFO */
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do {
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/* Are there more messages? */
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@ -532,67 +485,67 @@ namespace buzz_utility{
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buzzvm_gstore(VM);*/
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}
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/****************************************/
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/*Destroy the bvm and other resorces*/
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/****************************************/
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/****************************************/
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/*Destroy the bvm and other resorces*/
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/****************************************/
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void buzz_script_destroy() {
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if(VM) {
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if(VM->state != BUZZVM_STATE_READY) {
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fprintf(stderr, "%s: execution terminated abnormally: %s\n\n",
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BO_FNAME,
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buzz_error_info());
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buzzvm_dump(VM);
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}
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buzzvm_function_call(VM, "destroy", 0);
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buzzvm_destroy(&VM);
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free(BO_FNAME);
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buzzdebug_destroy(&DBG_INFO);
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}
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fprintf(stdout, "Script execution stopped.\n");
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}
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void buzz_script_destroy() {
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if(VM) {
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if(VM->state != BUZZVM_STATE_READY) {
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fprintf(stderr, "%s: execution terminated abnormally: %s\n\n",
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BO_FNAME,
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buzz_error_info());
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buzzvm_dump(VM);
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}
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buzzvm_function_call(VM, "destroy", 0);
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buzzvm_destroy(&VM);
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free(BO_FNAME);
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buzzdebug_destroy(&DBG_INFO);
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}
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fprintf(stdout, "Script execution stopped.\n");
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}
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/****************************************/
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/****************************************/
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/****************************************/
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/****************************************/
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/****************************************/
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/*Execution completed*/
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/****************************************/
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/****************************************/
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/*Execution completed*/
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/****************************************/
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int buzz_script_done() {
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return VM->state != BUZZVM_STATE_READY;
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}
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int buzz_script_done() {
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return VM->state != BUZZVM_STATE_READY;
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}
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int update_step_test(){
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int update_step_test() {
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buzzuav_closures::buzzuav_update_battery(VM);
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buzzuav_closures::buzzuav_update_prox(VM);
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buzzuav_closures::buzzuav_update_currentpos(VM);
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buzzuav_closures::buzzuav_update_flight_status(VM);
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buzzuav_closures::buzzuav_update_battery(VM);
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buzzuav_closures::buzzuav_update_prox(VM);
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buzzuav_closures::buzzuav_update_currentpos(VM);
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buzzuav_closures::buzzuav_update_flight_status(VM);
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int a = buzzvm_function_call(VM, "step", 0);
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if(a != BUZZVM_STATE_READY){
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fprintf(stdout, "step test VM state %i\n",a);
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fprintf(stdout, " execution terminated abnormally\n\n");
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}
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return a == BUZZVM_STATE_READY;
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}
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int a = buzzvm_function_call(VM, "step", 0);
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if(a != BUZZVM_STATE_READY) {
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fprintf(stdout, "step test VM state %i\n",a);
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fprintf(stdout, " execution terminated abnormally\n\n");
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}
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return a == BUZZVM_STATE_READY;
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}
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uint16_t get_robotid(){
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/* Get hostname */
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char hstnm[30];
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gethostname(hstnm, 30);
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/* Make numeric id from hostname */
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/* NOTE: here we assume that the hostname is in the format Knn */
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int id = strtol(hstnm + 4, NULL, 10);
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//fprintf(stdout, "Robot id from get rid buzz util: %i\n",id);
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return (uint16_t)id;
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}
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uint16_t get_robotid() {
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/* Get hostname */
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char hstnm[30];
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gethostname(hstnm, 30);
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/* Make numeric id from hostname */
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/* NOTE: here we assume that the hostname is in the format Knn */
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int id = strtol(hstnm + 4, NULL, 10);
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//fprintf(stdout, "Robot id from get rid buzz util: %i\n",id);
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return (uint16_t)id;
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}
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buzzvm_t get_vm(){
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return VM;
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}
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buzzvm_t get_vm() {
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return VM;
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}
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}
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@ -161,14 +161,9 @@ namespace rosbzz_node{
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Robot_id_sub = n_c.subscribe("/device_id_xbee_", 1000, &roscontroller::set_robot_id,this);
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obstacle_sub= n_c.subscribe("/guidance/obstacle_distance",100, &roscontroller::obstacle_dist,this);
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/*publishers*/
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//mavros_msgs/PositionTarget
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local_position_pub = n_c.advertise<mavros_msgs::PositionTarget>("/mavros/setpoint_raw/local", 10);
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//mavros_msgs::PositionTarget message;
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payload_pub = n_c.advertise<mavros_msgs::Mavlink>(out_payload, 1000);
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neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>("/neighbours_pos",1000);
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localsetpoint_pub = n_c.advertise<mavros_msgs::PositionTarget>("/setpoint_raw/local",1000);
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localsetpoint_pub = n_c.advertise<mavros_msgs::PositionTarget>("/mavros/setpoint_raw/local",1000);
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/* Service Clients*/
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arm_client = n_c.serviceClient<mavros_msgs::CommandBool>(armclient);
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mode_client = n_c.serviceClient<mavros_msgs::SetMode>(modeclient);
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@ -255,6 +250,7 @@ namespace rosbzz_node{
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void roscontroller::Arm(){
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mavros_msgs::CommandBool arming_message;
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arming_message.request.value = armstate;
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ROS_INFO("FC Arm Service called!------------------------------------------------------");
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if(arm_client.call(arming_message)) {
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if(arming_message.response.success==1)
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ROS_INFO("FC Arm Service called!");
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@ -264,20 +260,6 @@ namespace rosbzz_node{
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ROS_INFO("FC Arm Service call failed!");
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}
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}
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/*---------------------------------------------------------
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/ Set mode for the solos
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/---------------------------------------------------------*/
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void roscontroller::SetMode(){
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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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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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ROS_INFO("Set Mode Service call failed!");
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}
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}
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/*-----------------------------------------------------------------------------------------------------
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/Prepare Buzz messages payload for each step and publish
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@ -357,45 +339,59 @@ namespace rosbzz_node{
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/*---------------------------------------------------------------------------------
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/Flight controller service call every step if there is a command set from bzz script
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/-------------------------------------------------------------------------------- */
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void roscontroller::flight_controler_service_call(){
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void roscontroller::flight_controler_service_call() {
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/* flight controller client call if requested from Buzz*/
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/*FC call for takeoff,land, gohome and arm/disarm*/
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int tmp = buzzuav_closures::bzz_cmd();
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double* goto_pos = buzzuav_closures::getgoto();
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if (tmp == 1){
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double* goto_pos = buzzuav_closures::getgoto();
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if (tmp == 1) {
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cmd_srv.request.param7 = goto_pos[2];
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//cmd_srv.request.z = goto_pos[2];
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cmd_srv.request.command = buzzuav_closures::getcmd();
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if (mav_client.call(cmd_srv)){ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); }
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else ROS_ERROR("Failed to call service from flight controller");
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//std::cout << " CMD: " << buzzuav_closures::getcmd() << std::endl;
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// SOLO SPECIFIC: SITL DOES NOT USE 21 TO LAND -- workaround: set to LAND mode
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switch(buzzuav_closures::getcmd()){
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case mavros_msgs::CommandCode::NAV_LAND:
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if(current_mode != "LAND")
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SetMode("LAND", 0);
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break;
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case mavros_msgs::CommandCode::NAV_TAKEOFF:
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if(current_mode != "GUIDED")
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SetMode("GUIDED", 0); // for real solo, just add 2000ms delay (it should always be in loiter after arm/disarm)
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break;
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}
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if (mav_client.call(cmd_srv))
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{ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); }
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else
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ROS_ERROR("Failed to call service from flight controller");
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} else if (tmp == 2) { /*FC call for goto*/
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/*prepare the goto publish message */
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cmd_srv.request.param5 = goto_pos[0];
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cmd_srv.request.param6 = goto_pos[1];
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cmd_srv.request.param7 = goto_pos[2];
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cmd_srv.request.command = buzzuav_closures::getcmd();
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if (mav_client.call(cmd_srv)){ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); }
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else ROS_ERROR("Failed to call service from flight controller");
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cmd_srv.request.command = mavros_msgs::CommandCode::CMD_MISSION_START;
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if (mav_client.call(cmd_srv)){ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); }
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else ROS_ERROR("Failed to call service from flight controller");
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cmd_srv.request.param6 = goto_pos[1];
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cmd_srv.request.param7 = goto_pos[2];
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cmd_srv.request.command = buzzuav_closures::getcmd();
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if (mav_client.call(cmd_srv)) {
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ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success);
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} else
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ROS_ERROR("Failed to call service from flight controller");
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cmd_srv.request.command = mavros_msgs::CommandCode::CMD_MISSION_START;
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if (mav_client.call(cmd_srv)) {
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ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success);
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} else
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ROS_ERROR("Failed to call service from flight controller");
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} else if (tmp == 3) { /*FC call for arm*/
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armstate=1;
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SetMode("LOITER", 0);
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armstate = 1;
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Arm();
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} else if (tmp == 4){
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armstate=0;
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} else if (tmp == 4) {
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armstate = 0;
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SetMode("LOITER", 0);
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Arm();
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} else if (tmp == 5) { /*Buzz call for moveto*/
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/*prepare the goto publish message */
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mavros_msgs::PositionTarget pt;
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pt.type_mask = mavros_msgs::PositionTarget::IGNORE_VX && mavros_msgs::PositionTarget::IGNORE_VY && mavros_msgs::PositionTarget::IGNORE_VZ && mavros_msgs::PositionTarget::IGNORE_AFX && mavros_msgs::PositionTarget::IGNORE_AFY && mavros_msgs::PositionTarget::IGNORE_AFZ && mavros_msgs::PositionTarget::IGNORE_YAW_RATE;
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pt.coordinate_frame = mavros_msgs::PositionTarget::FRAME_LOCAL_NED;
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pt.position.x = goto_pos[0];
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pt.position.y = goto_pos[1];
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pt.position.z = goto_pos[2];
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pt.yaw = 0;//goto_pos[3];
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localsetpoint_pub.publish(pt);
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}
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roscontroller::SetLocalPosition(goto_pos[0], goto_pos[1], goto_pos[2], 0);
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}
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}
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/*----------------------------------------------
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/Refresh neighbours Position for every ten step
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@ -575,7 +571,6 @@ namespace rosbzz_node{
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bool roscontroller::rc_callback(mavros_msgs::CommandLong::Request &req,
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mavros_msgs::CommandLong::Response &res){
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int rc_cmd;
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switch(req.command){
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case mavros_msgs::CommandCode::NAV_TAKEOFF:
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ROS_INFO("RC_call: TAKE OFF!!!!");
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@ -584,7 +579,7 @@ namespace rosbzz_node{
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res.success = true;
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break;
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case mavros_msgs::CommandCode::NAV_LAND:
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ROS_INFO("RC_Call: LAND!!!!");
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ROS_INFO("RC_Call: LAND!!!! sending land");
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rc_cmd=mavros_msgs::CommandCode::NAV_LAND;
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buzzuav_closures::rc_call(rc_cmd);
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res.success = true;
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@ -616,8 +611,8 @@ namespace rosbzz_node{
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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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// param 4 for yaw
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LocalPosition(rc_goto[0], rc_goto[1], rc_goto[2], req.param4);
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// for test
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//SetLocalPosition(rc_goto[0], rc_goto[1], rc_goto[2], 0);
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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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@ -635,30 +630,18 @@ namespace rosbzz_node{
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/ TODO: check for integrity of this subscriber call back
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/----------------------------------------------------*/
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void roscontroller::set_robot_id(const std_msgs::UInt8::ConstPtr& msg){
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robot_id=(int)msg->data;
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robot_id=(int)msg->data;
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}
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/*
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* SOLO SPECIFIC FUNCTIONS
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*/
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void roscontroller::LocalPosition(float x, float y, float z, float yaw){
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void roscontroller::SetLocalPosition(float x, float y, float z, float yaw){
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// http://docs.ros.org/kinetic/api/mavros_msgs/html/msg/PositionTarget.html
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// http://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html#copter-commands-in-guided-mode-set-position-target-local-ned
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mavros_msgs::PositionTarget moveMsg;
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/*
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#define C_EARTH (double) 6378137.0
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double d_lon = destination_longitude - global_position.longitude;
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double d_lat = destination_latitude - global_position.latitude;
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flight_ctrl_data.x = ((d_lat) * M_PI/180.0) * C_EARTH;
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flight_ctrl_data.y = ((d_lon) * M_PI/180.0) * C_EARTH * cos((dst_latitude)*M_PI/180.0);
|
||||
*/
|
||||
|
||||
|
||||
moveMsg.coordinate_frame = mavros_msgs::PositionTarget::FRAME_BODY_OFFSET_NED;
|
||||
moveMsg.type_mask = mavros_msgs::PositionTarget::IGNORE_AFX |
|
||||
mavros_msgs::PositionTarget::IGNORE_AFY |
|
||||
|
|
@ -666,22 +649,20 @@ namespace rosbzz_node{
|
|||
mavros_msgs::PositionTarget::IGNORE_VX |
|
||||
mavros_msgs::PositionTarget::IGNORE_VY |
|
||||
mavros_msgs::PositionTarget::IGNORE_VZ;
|
||||
|
||||
moveMsg.header.stamp = ros::Time::now();
|
||||
moveMsg.position.x = x;
|
||||
moveMsg.position.y = y;
|
||||
moveMsg.position.z = z;
|
||||
moveMsg.yaw = yaw * 0.0174532925; //DEG to RAD
|
||||
//moveMsg.yaw_rate = 1;
|
||||
moveMsg.yaw = 0;
|
||||
|
||||
localsetpoint_pub.publish(moveMsg);
|
||||
|
||||
local_position_pub.publish(moveMsg);
|
||||
ROS_INFO("Sent message!");
|
||||
ROS_INFO("Sent local position message!");
|
||||
}
|
||||
|
||||
void roscontroller::SetMode(std::string mode, int delay_miliseconds){
|
||||
// wait if necessary
|
||||
if (delay_miliseconds > 0){
|
||||
if (delay_miliseconds != 0){
|
||||
std::this_thread::sleep_for( std::chrono::milliseconds ( delay_miliseconds ) );
|
||||
}
|
||||
// set mode
|
||||
|
|
|
|||
|
|
@ -132,8 +132,7 @@ function takeoff() {
|
|||
}
|
||||
function land() {
|
||||
log("Land: ", flight.status)
|
||||
# SOLO: land = status 4, guided = 1
|
||||
if(flight.status == 1){
|
||||
if(flight.status == 2 or flight.status == 1){
|
||||
neighbors.broadcast("cmd", 21)
|
||||
uav_land()
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue