Spiri/ROSBuzz_MISTLab
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addition of xbee robot id

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This commit is contained in:
vivek-shankar 2017-02-19 23:30:45 -05:00
parent 3385058943
commit f755507bcd
3 changed files with 12 additions and 3 deletions
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5
include/roscontroller.h
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@ -1,6 +1,7 @@
#pragma once
#include <ros/ros.h>
#include <sensor_msgs/NavSatFix.h>
#include <std_msgs/UInt8.h>
#include "mavros_msgs/GlobalPositionTarget.h"
#include "mavros_msgs/CommandCode.h"
#include "mavros_msgs/CommandLong.h"
@ -66,6 +67,7 @@ private:
ros::Subscriber payload_sub;
ros::Subscriber flight_status_sub;
ros::Subscriber obstacle_sub;
ros::Subscriber Robot_id_sub;
/*Commands for flight controller*/
//mavros_msgs::CommandInt cmd_srv;
mavros_msgs::CommandLong cmd_srv;
@ -137,6 +139,9 @@ private:
/* RC commands service */
bool rc_callback(mavros_msgs::CommandLong::Request &req, mavros_msgs::CommandLong::Response &res);
/*robot id sub callback*/
void set_robot_id(const std_msgs::UInt8::ConstPtr& msg);
void obstacle_dist(const sensor_msgs::LaserScan::ConstPtr& msg);
void GetSubscriptionParameters(ros::NodeHandle node_handle);

8
src/roscontroller.cpp
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@ -117,7 +117,7 @@ namespace rosbzz_node{
else{ROS_ERROR("Provide a rc client option: yes or no in Launch file"); system("rosnode kill rosbuzz_node");}
/*Obtain robot_id from parameter server*/
//n_c.getParam("robot_id", robot_id);
robot_id=(int)buzz_utility::get_robotid();
//robot_id=(int)buzz_utility::get_robotid();
/*Obtain out payload name*/
n_c.getParam("out_payload", out_payload);
/*Obtain in payload name*/
@ -169,7 +169,7 @@ namespace rosbzz_node{
//battery_sub = n_c.subscribe("/power_status", 1000, &roscontroller::battery,this);
payload_sub = n_c.subscribe(in_payload, 1000, &roscontroller::payload_obt,this);
//flight_status_sub =n_c.subscribe("/flight_status",100, &roscontroller::flight_extended_status_update,this);
Robot_id_sub = n_c.subscribe("/device_id_xbee_", 1000, &roscontroller::set_robot_id,this);
obstacle_sub= n_c.subscribe("/guidance/obstacle_distance",100, &roscontroller::obstacle_dist,this);
/*publishers*/
payload_pub = n_c.advertise<mavros_msgs::Mavlink>(out_payload, 1000);
@ -730,6 +730,10 @@ namespace rosbzz_node{
}
return true;
}
void roscontroller::set_robot_id(const std_msgs::UInt8::ConstPtr& msg){
robot_id=(int)msg->data;
}
}

2
src/test1.bzz
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@ -1,7 +1,7 @@
# We need this for 2D vectors
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
include "/home/ubuntu/buzz/src/include/vec2.bzz"
include "/home/vivek/ubuntu/buzz/src/include/vec2.bzz"
####################################################################################################
# Updater related
# This should be here for the updater to work, changing position of code will crash the updater