forked from Archive/PX4-Autopilot
ros: add offboard attitude sp demo (WIP)
This commit is contained in:
Thomas Gubler
parent
80fbb512c9
commit
27511324ff
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@ -263,6 +263,15 @@ target_link_libraries(demo_offboard_position_setpoints
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px4
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)
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## Offboard Attitude Setpoint Demo
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add_executable(demo_offboard_attitude_setpoints
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src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp)
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add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
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target_link_libraries(demo_offboard_attitude_setpoints
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${catkin_LIBRARIES}
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px4
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)
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#############
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## Install ##
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#############
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@ -0,0 +1,10 @@
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<launch>
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<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch" />
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<include file="$(find px4)/launch/mavros_sitl.launch" />
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<group ns="px4_multicopter">
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<node pkg="px4" name="demo_offboard_position_setpoints" type="demo_offboard_attitude_setpoints"/>
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</group>
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</launch>
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@ -0,0 +1,83 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 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 demo_offboard_position_Setpoints.cpp
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*
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* Demo for sending offboard position setpoints to mavros to show offboard position control in SITL
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#include "demo_offboard_attitude_setpoints.h"
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#include <platforms/px4_middleware.h>
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#include <geometry_msgs/PoseStamped.h>
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#include <std_msgs/Float64.h>
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DemoOffboardAttitudeSetpoints::DemoOffboardAttitudeSetpoints() :
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_n(),
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_attitude_sp_pub(_n.advertise<geometry_msgs::PoseStamped>("mavros/setpoint/attitude", 1)),
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_thrust_sp_pub(_n.advertise<std_msgs::Float64>("mavros/setpoint/att_throttle", 1))
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{
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}
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int DemoOffboardAttitudeSetpoints::main()
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{
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px4::Rate loop_rate(10);
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while (ros::ok()) {
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loop_rate.sleep();
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ros::spinOnce();
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/* Publish example offboard attitude setpoint */
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geometry_msgs::PoseStamped pose;
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pose.pose.position.x = 0;
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pose.pose.position.y = 0;
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pose.pose.position.z = 1;
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_attitude_sp_pub.publish(pose);
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std_msgs::Float64 thrust;
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thrust.data = 0.5;
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_thrust_sp_pub.publish(thrust);
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}
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return 0;
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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, "demo_offboard_position_setpoints");
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DemoOffboardAttitudeSetpoints d;
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return d.main();
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}
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@ -0,0 +1,58 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 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 demo_offboard_attitude_Setpoints.h
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*
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* Demo for sending offboard position setpoints to mavros to show offboard position control in SITL
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#include "ros/ros.h"
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#include <px4/manual_control_setpoint.h>
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class DemoOffboardAttitudeSetpoints
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{
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public:
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DemoOffboardAttitudeSetpoints();
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~DemoOffboardAttitudeSetpoints() {}
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int main();
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protected:
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ros::NodeHandle _n;
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ros::Publisher _attitude_sp_pub;
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ros::Publisher _thrust_sp_pub;
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};
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