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ROSBuzz_MISTLab
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added arm/mode dummies

This commit is contained in:
David 2017-02-17 22:00:50 -05:00
parent 77355ab177
commit ea95bb1b48
4 changed files with 13 additions and 13 deletions
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3
include/roscontroller.h
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@ -3,7 +3,6 @@
#include <sensor_msgs/NavSatFix.h>
#include "mavros_msgs/GlobalPositionTarget.h"
#include "mavros_msgs/CommandCode.h"
#include "mavros_msgs/CommandInt.h"
#include "mavros_msgs/CommandLong.h"
#include "mavros_msgs/CommandBool.h"
#include "mavros_msgs/ExtendedState.h"
@ -54,7 +53,7 @@ private:
//int oldcmdID=0;
int rc_cmd;
int barrier;
std::string bzzfile_name, fcclient_name, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by; //, rcclient;
std::string bzzfile_name, fcclient_name, armclient, modeclient, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by;
bool rcclient;
bool multi_msg;
ros::ServiceClient mav_client;

2
launch/launch_config/m100.yaml
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@ -3,6 +3,8 @@ topics:
battery : /power_status
status : /flight_status
fcclient : /dji_mavcmd
armclient: /dji_mavarming
modeclient: /dji_mavmode
type:
gps : sensor_msgs/NavSatFix
battery : mavros_msgs/BatteryStatus

2
launch/launch_config/solo.yaml
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@ -3,6 +3,8 @@ topics:
battery : /mavros/battery
status : /mavros/state
fcclient: /mavros/cmd/command
armclient: /mavros/cmd/arming
modeclient: /mavros/set_mode
type:
gps : sensor_msgs/NavSatFix
# for SITL Solo

19
src/roscontroller.cpp
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@ -163,6 +163,10 @@ namespace rosbzz_node{
/*Obtain fc client name from parameter server*/
if(node_handle.getParam("topics/fcclient", fcclient_name));
else {ROS_ERROR("Provide a fc client name in Launch file"); system("rosnode kill rosbuzz_node");}
if(node_handle.getParam("topics/armclient", armclient));
else {ROS_ERROR("Provide an arm client name in Launch file"); system("rosnode kill rosbuzz_node");}
if(node_handle.getParam("topics/modeclient", modeclient));
else {ROS_ERROR("Provide a mode client name in Launch file"); system("rosnode kill rosbuzz_node");}
}
void roscontroller::Initialize_pub_sub(ros::NodeHandle n_c){
@ -179,17 +183,10 @@ namespace rosbzz_node{
/*publishers*/
payload_pub = n_c.advertise<mavros_msgs::Mavlink>(out_payload, 1000);
neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>("/neighbours_pos",1000);
/* Clients*/
//if(fcclient_name == "/mavros/cmd/command"){
// mav_client = n_c.serviceClient<mavros_msgs::CommandInt>(fcclient_name);
//}
//else {
//TODO: Here
arm_client = n_c.serviceClient<mavros_msgs::CommandBool>("/mavros/cmd/arming");
mode_client = n_c.serviceClient<mavros_msgs::SetMode>("/mavros/set_mode");
mav_client = n_c.serviceClient<mavros_msgs::CommandLong>(fcclient_name);
//}
/* Service Clients*/
arm_client = n_c.serviceClient<mavros_msgs::CommandBool>(armingclient);
mode_client = n_c.serviceClient<mavros_msgs::SetMode>(modeclient);
mav_client = n_c.serviceClient<mavros_msgs::CommandLong>(fcclient_name);
multi_msg=true;
}