dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

manual input: map axes

This commit is contained in:
Thomas Gubler 2014-12-30 11:16:53 +01:00
parent 824446bf2f
commit c016804594
2 changed files with 36 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

27
src/platforms/ros/nodes/manual_input/manual_input.cpp
View File

@ -47,6 +47,22 @@ ManualInput::ManualInput() :
_sub_joy(_n.subscribe("joy", 10, &ManualInput::JoyCallback, this)),
_man_ctrl_sp_pub(_n.advertise<px4::manual_control_setpoint>("manual_control_setpoint", 10))
{
/* Load parameters, default values work for Microsoft XBox Controller */
_n.param("map_x", param_axes_map[0], 4);
_n.param("scale_x", param_axes_scale[0], 1.0);
_n.param("off_x", param_axes_offset[0], 0.0);
_n.param("map_y", param_axes_map[1], 3);
_n.param("scale_y", param_axes_scale[1], -1.0);
_n.param("off_y", param_axes_offset[1], 0.0);
_n.param("map_z", param_axes_map[2], 2);
_n.param("scale_z", param_axes_scale[2], -0.5);
_n.param("off_z", param_axes_offset[2], 0.5);
_n.param("map_r", param_axes_map[3], 0);
_n.param("scale_r", param_axes_scale[3], -1.0);
_n.param("off_r", param_axes_offset[3], 0.0);
}
void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg)
@ -54,11 +70,20 @@ void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg)
px4::manual_control_setpoint msg_out;
/* Fill px4 manual control setpoint topic with contents from ros joystick */
//XXX
MapAxis(msg, param_axes_map[0], param_axes_scale[0], param_axes_offset[0], msg_out.x);
MapAxis(msg, param_axes_map[1], param_axes_scale[1], param_axes_offset[1], msg_out.y);
MapAxis(msg, param_axes_map[2], param_axes_scale[2], param_axes_offset[2], msg_out.z);
MapAxis(msg, param_axes_map[3], param_axes_scale[3], param_axes_offset[3], msg_out.r);
ROS_INFO("x: %1.4f y: %1.4f z: %1.4f r: %1.4f", msg_out.x, msg_out.y, msg_out.z, msg_out.r);
_man_ctrl_sp_pub.publish(msg_out);
}
void ManualInput::MapAxis(const sensor_msgs::JoyConstPtr& msg, int map_index, double scale, double offset, float &out)
{
out = (float)(msg->axes[map_index] * scale + offset);
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "manual_input");

10
src/platforms/ros/nodes/manual_input/manual_input.h
View File

@ -53,9 +53,19 @@ protected:
*/
void JoyCallback(const sensor_msgs::JoyConstPtr& msg);
/**
* Helper function to map and scale joystick input
*/
void MapAxis(const sensor_msgs::JoyConstPtr& msg, int map_index, double scale, double offset, float &out);
ros::NodeHandle _n;
ros::Subscriber _sub_joy;
ros::Publisher _man_ctrl_sp_pub;
/* Parameters */
int param_axes_map[4];
double param_axes_scale[4];
double param_axes_offset[4];
};