Spiri
/
ROSBuzz_MISTLab
12
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merged dev into solo-playground

This commit is contained in:
isvogor 2017-05-12 11:12:24 -04:00
parent 9ff3e83e2c c93605eb81
commit a5c1cf7754
4 changed files with 6 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
include/roscontroller.h
View File

@ -111,6 +111,7 @@ private:
ros::Subscriber Robot_id_sub;
ros::Subscriber relative_altitude_sub;
std::string local_pos_sub_name;
ros::Subscriber local_pos_sub;
double local_pos_new[3];

1
launch/launch_config/solo.yaml
View File

@ -6,6 +6,7 @@ topics:
setpoint: mavros/setpoint_position/local
armclient: mavros/cmd/arming
modeclient: mavros/set_mode
localpos: /mavros/local_position/pose
stream: mavros/set_stream_rate
altitude: mavros/global_position/rel_alt
type:

BIN
script/testsolo.bo
View File

Binary file not shown.

7
src/roscontroller.cpp
View File

@ -215,7 +215,8 @@ namespace rosbzz_node{
else {ROS_ERROR("Provide a mode client name in Launch file"); system("rosnode kill rosbuzz_node");}
if(node_handle.getParam("topics/stream", stream_client_name));
else {ROS_ERROR("Provide a mode client name in Launch file"); system("rosnode kill rosbuzz_node");}
if(node_handle.getParam("topics/localpos", local_pos_sub_name));
else {ROS_ERROR("Provide a localpos name in YAML file"); system("rosnode kill rosbuzz_node");}
@ -250,9 +251,9 @@ namespace rosbzz_node{
stream_client = n_c.serviceClient<mavros_msgs::StreamRate>(stream_client_name);
users_sub = n_c.subscribe("users_pos", 1000, &roscontroller::users_pos,this);
local_pos_sub = n_c.subscribe(local_pos_sub_name, 1000, &roscontroller::local_pos_callback, this);
local_pos_sub = n_c.subscribe("/local_position", 1000, &roscontroller::local_pos_callback, this);
multi_msg=true;
}
/*---------------------------------------