From ac0f01e92e647944b34f7dcf3adbacd283d685cb Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 3 Nov 2014 07:41:05 +0100 Subject: [PATCH] First stab at ROS integration --- CMakeLists.txt | 163 ++++++++++++++++++++++++++++++++++++++++++++ msg/rc_channels.msg | 8 +++ package.xml | 59 ++++++++++++++++ 3 files changed, 230 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 msg/rc_channels.msg create mode 100644 package.xml diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000000..834a8f0c11 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,163 @@ +cmake_minimum_required(VERSION 2.8.3) +project(px4) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependencies might have been +## pulled in transitively but can be declared for certainty nonetheless: +## * add a build_depend tag for "message_generation" +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + std_msgs +) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES px4 +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## Declare a cpp library +# add_library(px4 +# src/${PROJECT_NAME}/px4test.cpp # src/platform/ros/ros.cpp +# ) + +## Declare a cpp executable +add_executable(rostest_node src/platform/ros/ros.cpp) + +## Add cmake target dependencies of the executable/library +## as an example, message headers may need to be generated before nodes +add_dependencies(rostest_node px4_generate_messages_cpp) + +## Specify libraries to link a library or executable target against +target_link_libraries(rostest_node + ${catkin_LIBRARIES} +) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS px4 mc_attitude_control +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/msg/rc_channels.msg b/msg/rc_channels.msg new file mode 100644 index 0000000000..9b3c708356 --- /dev/null +++ b/msg/rc_channels.msg @@ -0,0 +1,8 @@ +Header header +int32 RC_CHANNELS_FUNCTION_MAX=18 +uint64 timestamp_last_valid # Timestamp of last valid RC signal +float32 channels[RC_CHANNELS_FUNCTION_MAX] # Scaled to -1..1 (throttle: 0..1) +uint8 channel_count # Number of valid channels +int8 function[RC_CHANNELS_FUNCTION_MAX] # Functions mapping +uint8 rssi # Receive signal strength index +bool signal_lost # Control signal lost, should be checked together with topic timeout \ No newline at end of file diff --git a/package.xml b/package.xml new file mode 100644 index 0000000000..3575119be7 --- /dev/null +++ b/package.xml @@ -0,0 +1,59 @@ + + + px4 + 1.0.0 + The PX4 Flight Stack package + + + + + Lorenz Meier + + + + + + BSD + + + + + + http://px4.io/ros + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + + + + \ No newline at end of file