Spiri
/
ROSBuzz_MISTLab
13
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

mavros version selection as cmake flag

This commit is contained in:
mistTX1 2018-08-21 01:40:49 +00:00
parent 2d6d5d0d28
commit ffbe4569cc
3 changed files with 31 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
CMakeLists.txt
View File

@ -6,9 +6,9 @@ if(UNIX)
endif()
if(SIM)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DSIMULATION=1")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DSIMULATION=1 -DMAVROSKINETIC=1")
else()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DSIMULATION=0")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DSIMULATION=0 -DMAVROSKINETIC=1")
endif()
## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS

8
src/buzzuav_closures.cpp
View File

@ -401,7 +401,11 @@ int buzzuav_arm(buzzvm_t vm)
/ Buzz closure to arm
/---------------------------------------*/
{
#ifdef MAVROSKINETIC
cur_cmd = mavros_msgs::CommandCode::COMPONENT_ARM_DISARM;
#else
cur_cmd = mavros_msgs::CommandCode::CMD_COMPONENT_ARM_DISARM;
#endif
printf(" Buzz requested Arm \n");
buzz_cmd = COMMAND_ARM;
return buzzvm_ret0(vm);
@ -412,7 +416,11 @@ int buzzuav_disarm(buzzvm_t vm)
/ Buzz closure to disarm
/---------------------------------------*/
{
#ifdef MAVROSKINETIC
cur_cmd = mavros_msgs::CommandCode::COMPONENT_ARM_DISARM + 1;
#else
cur_cmd = mavros_msgs::CommandCode::CMD_COMPONENT_ARM_DISARM + 1;
#endif
printf(" Buzz requested Disarm \n");
buzz_cmd = COMMAND_DISARM;
return buzzvm_ret0(vm);

21
src/roscontroller.cpp
View File

@ -780,7 +780,11 @@ script
}
else
ROS_ERROR("Failed to call service from flight controller");
#ifdef MAVROSKINETIC
cmd_srv.request.command = mavros_msgs::CommandCode::MISSION_START;
#else
cmd_srv.request.command = mavros_msgs::CommandCode::CMD_MISSION_START;
#endif
if (mav_client.call(cmd_srv))
{
ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success);
@ -818,7 +822,11 @@ script
cmd_srv.request.param2 = gimbal[1];
cmd_srv.request.param3 = gimbal[2];
cmd_srv.request.param4 = gimbal[3];
#ifdef MAVROSKINETIC
cmd_srv.request.command = mavros_msgs::CommandCode::DO_MOUNT_CONTROL;
#else
cmd_srv.request.command = mavros_msgs::CommandCode::CMD_DO_MOUNT_CONTROL;
#endif
if (mav_client.call(cmd_srv))
{
ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success);
@ -1220,8 +1228,13 @@ bool roscontroller::rc_callback(mavros_msgs::CommandLong::Request& req, mavros_m
buzzuav_closures::rc_call(rc_cmd);
res.success = true;
break;
#ifdef MAVROSKINETIC
case mavros_msgs::CommandCode::COMPONENT_ARM_DISARM:
rc_cmd = mavros_msgs::CommandCode::COMPONENT_ARM_DISARM;
#else
case mavros_msgs::CommandCode::CMD_COMPONENT_ARM_DISARM:
rc_cmd = mavros_msgs::CommandCode::CMD_COMPONENT_ARM_DISARM;
#endif
armstate = req.param1;
if (armstate)
{
@ -1249,10 +1262,18 @@ bool roscontroller::rc_callback(mavros_msgs::CommandLong::Request& req, mavros_m
buzzuav_closures::rc_call(rc_cmd);
res.success = true;
break;
#ifdef MAVROSKINETIC
case mavros_msgs::CommandCode::DO_MOUNT_CONTROL:
#else
case mavros_msgs::CommandCode::CMD_DO_MOUNT_CONTROL:
#endif
ROS_INFO("RC_Call: Gimbal!!!! ");
buzzuav_closures::rc_set_gimbal(req.param1, req.param2, req.param3, req.param4, req.param5);
#ifdef MAVROSKINETIC
rc_cmd = mavros_msgs::CommandCode::DO_MOUNT_CONTROL;
#else
rc_cmd = mavros_msgs::CommandCode::CMD_DO_MOUNT_CONTROL;
#endif
buzzuav_closures::rc_call(rc_cmd);
res.success = true;
break;