ros: add skeleton for mavlink node

CMakeLists.txt

@@ -240,6 +240,15 @@ target_link_libraries(commander
   px4
 )
 
+## Mavlink
+add_executable(mavlink
+	src/platforms/ros/nodes/mavlink/mavlink.cpp)
+add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mavlink
+  ${catkin_LIBRARIES}
+  px4
+)
+
 #############
 ## Install ##
 #############

src/platforms/ros/nodes/mavlink/mavlink.cpp

@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink.cpp
+ * Dummy mavlink node that interfaces to a mavros node via UDP
+ * This simulates the onboard mavlink app to some degree. It should be possible to
+ * send offboard setpoints via mavros to the SITL setup the same way as on the real system
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+*/
+
+#include "mavlink.h"
+
+#include <platforms/px4_middleware.h>
+
+using namespace px4;
+
+Mavlink::Mavlink() :
+	_n()
+{
+}
+
+int main(int argc, char **argv)
+{
+	ros::init(argc, argv, "mavlink");
+	Mavlink m;
+	ros::spin();
+	return 0;
+}

src/platforms/ros/nodes/mavlink/mavlink.h

@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink.h
+ * Dummy mavlink node that interfaces to a mavros node via UDP
+ * This simulates the onboard mavlink app to some degree. It should be possible to
+ * send offboard setpoints via mavros to the SITL setup the same way as on the real system
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+*/
+
+#include "ros/ros.h"
+
+namespace px4
+{
+
+class Mavlink
+{
+public:
+	Mavlink();
+
+	~Mavlink() {}
+
+protected:
+
+	ros::NodeHandle _n;
+};
+
+}