Spiri/ROSBuzz_MISTLab
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clean up and drone compatible launch file modification

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This commit is contained in:
vivek 2016-11-28 20:53:56 -05:00
parent 5b288b0d37
commit a3896c67fb
4 changed files with 4 additions and 8 deletions
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2
CMakeLists.txt
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@ -9,7 +9,7 @@ endif()
find_package(catkin REQUIRED COMPONENTS find_package(catkin REQUIRED COMPONENTS
roscpp roscpp
std_msgs std_msgs
# mavros_msgs mavros_msgs
sensor_msgs sensor_msgs
) )

4
include/roscontroller.h
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@ -24,8 +24,6 @@
using namespace std; using namespace std;
namespace rosbzz_node{ namespace rosbzz_node{
/*Create node Handler*/
//ros::NodeHandle n_c;
class roscontroller{ class roscontroller{
@ -54,7 +52,7 @@ private:
ros::Subscriber payload_sub; ros::Subscriber payload_sub;
ros::Subscriber flight_status_sub; ros::Subscriber flight_status_sub;
/*Commands for flight controller*/ /*Commands for flight controller*/
mavros_msgs::CommandInt cmd_srv; mavros_msgs::CommandInt cmd_srv;
void Initialize_pub_sub(ros::NodeHandle n_c); void Initialize_pub_sub(ros::NodeHandle n_c);

4
launch/rosbuzz.launch
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@ -2,11 +2,11 @@
<launch> <launch>
<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" >
<param name="bzzfile_name" value="/home/vivek/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="rcclient" value="true" />
<param name="rcservice_name" value="rc_cmd" /> <param name="rcservice_name" value="rc_cmd" />
<param name="fcclient_name" value="/djicmd" /> <param name="fcclient_name" value="/djicmd" />
<param name="in_payload" value="/rosbuzz_node1/outMavlink"/> <param name="in_payload" value="outMavlink"/>
<param name="out_payload" value="outMavlink"/> <param name="out_payload" value="outMavlink"/>
<param name="robot_id" value="1"/> <param name="robot_id" value="1"/>
</node> </node>

2
src/roscontroller.cpp
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@ -3,12 +3,10 @@
namespace rosbzz_node{ namespace rosbzz_node{
/*Create node Handler*/
/***Constructor***/ /***Constructor***/
roscontroller::roscontroller(ros::NodeHandle n_c) roscontroller::roscontroller(ros::NodeHandle n_c)
{ {
/*Create node Handler*/
ROS_INFO("Buzz_node"); ROS_INFO("Buzz_node");
/*Obtain parameters from ros parameter server*/ /*Obtain parameters from ros parameter server*/