forked from Archive/PX4-Autopilot
new dummy attitude estimator skeleton
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@ -177,10 +177,10 @@ target_link_libraries(mc_att_control
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)
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## Attitude Estimator dummy
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add_executable(att_estimator
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src/platforms/ros/nodes/att_estimator/att_estimator.cpp)
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add_dependencies(att_estimator px4_generate_messages_cpp)
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target_link_libraries(att_estimator
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add_executable(attitude_estimator
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src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
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add_dependencies(attitude_estimator px4_generate_messages_cpp)
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target_link_libraries(attitude_estimator
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${catkin_LIBRARIES}
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px4
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)
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@ -2,7 +2,7 @@
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<group ns="px4_example">
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<node pkg="px4" name="manual_input" type="manual_input"/>
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<node pkg="px4" name="att_estimator" type="att_estimator"/>
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<node pkg="px4" name="attitude_estimator" type="attitude_estimator"/>
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<node pkg="px4" name="mc_att_control" type="mc_att_control"/>
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</group>
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@ -0,0 +1,70 @@
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/****************************************************************************
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*
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* Copyright (c) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file att_estimator.cpp
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* Dummy attitude estimator that forwards attitude from gazebo to px4 topic
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#include "attitude_estimator.h"
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#include <px4/vehicle_attitude.h>
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AttitudeEstimator::AttitudeEstimator() :
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_n(),
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_sub_modelstates(_n.subscribe("joy", 10, &AttitudeEstimator::ModelStatesCallback, this)),
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_vehicle_attitude_pub(_n.advertise<px4::vehicle_attitude>("vehicle_attitude", 10))
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{
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}
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void AttitudeEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstPtr& msg)
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{
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px4::vehicle_attitude msg_out;
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/* Fill px4 attitude topic with contents from modelstates topic */
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//XXX
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_vehicle_attitude_pub.publish(msg_out);
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}
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int main(int argc, char **argv)
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{
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ros::init(argc, argv, "attitude_estimator");
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AttitudeEstimator m;
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ros::spin();
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return 0;
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}
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@ -32,7 +32,7 @@
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****************************************************************************/
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/**
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* @file att_estimator.cpp
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* @file att_estimator.h
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* Dummy attitude estimator that forwards attitude from gazebo to px4 topic
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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@ -40,23 +40,22 @@
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#include "ros/ros.h"
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#include <gazebo_msgs/ModelStates.h>
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//#include "std_msgs/String.h"
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/**
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* This tutorial demonstrates simple receipt of messages over the ROS system.
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*/
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void chatterCallback(const gazebo_msgs::ModelStates &msg)
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{
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// try to read out message here
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}
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class AttitudeEstimator {
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public:
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AttitudeEstimator();
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int main(int argc, char **argv)
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{
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ros::init(argc, argv, "att_estimator");
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ros::NodeHandle n;
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ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
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~AttitudeEstimator() {}
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ros::spin();
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protected:
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/**
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* Takes ROS joystick message and converts/publishes to px4 manual control setpoint topic
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*/
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void ModelStatesCallback(const gazebo_msgs::ModelStatesConstPtr& msg);
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return 0;
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}
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ros::NodeHandle _n;
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ros::Subscriber _sub_modelstates;
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ros::Publisher _vehicle_attitude_pub;
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};
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@ -45,11 +45,10 @@
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ManualInput::ManualInput() :
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_n(),
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_sub_joy(_n.subscribe("joy", 10, &ManualInput::JoyCallback, this)),
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_man_ctrl_sp_pub(_n.advertise<px4::manual_control_setpoint>("manual_control_setpoint", 1000))
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_man_ctrl_sp_pub(_n.advertise<px4::manual_control_setpoint>("manual_control_setpoint", 10))
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{
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}
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void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg)
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{
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px4::manual_control_setpoint msg_out;
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