forked from Archive/PX4-Autopilot
dummy estimator skeleton code
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@ -173,6 +173,15 @@ target_link_libraries(mc_att_control
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px4
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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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${catkin_LIBRARIES}
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px4
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)
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#############
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## Install ##
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@ -0,0 +1,61 @@
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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 "ros/ros.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 std_msgs::String::ConstPtr& msg)
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{
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ROS_INFO("I heard: [%s]", msg->data.c_str());
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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, "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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ros::spin();
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return 0;
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}
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