forked from Archive/PX4-Autopilot
skeleton code for manual input node
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@ -12,6 +12,7 @@ find_package(catkin REQUIRED COMPONENTS
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message_generation
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cmake_modules
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gazebo_msgs
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sensor_msgs
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)
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find_package(Eigen REQUIRED)
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@ -184,6 +185,15 @@ target_link_libraries(att_estimator
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px4
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)
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## Manual input
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add_executable(manual_input
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src/platforms/ros/nodes/manual_input/manual_input.cpp)
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add_dependencies(manual_input px4_generate_messages_cpp)
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target_link_libraries(manual_input
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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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@ -1,6 +1,8 @@
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<launch>
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<group ns="px4_example">
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<node pkg="px4" name="manual_input" type="manual_input"/>
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<node pkg="px4" name="att_estimator" type="att_estimator"/>
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<node pkg="px4" name="mc_att_control" type="mc_att_control"/>
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</group>
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@ -0,0 +1,71 @@
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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 manual_input.cpp
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* Reads from the ros joystick topic and publishes to the px4 manual control input topic.
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#include "manual_input.h"
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#include <px4/manual_control_setpoint.h>
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ManualInput::ManualInput() :
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_n(),
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_sub_joy(_n.subscribe("joy", 10, &ManualInput::JoyCallback, this)),
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_man_ctrl_sp_pub(_n.advertise<px4::manual_control_setpoint>("manual_control_setpoint", 1000))
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{
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}
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void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg)
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{
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px4::manual_control_setpoint msg_out;
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/* Fill px4 manual control setpoint topic with contents from ros joystick */
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//XXX
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_man_ctrl_sp_pub.publish(msg_out);
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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, "manual_input");
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ManualInput m;
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ros::spin();
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return 0;
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}
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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 manual_input.h
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* Reads from the ros joystick topic and publishes to the px4 manual control setpoint 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 <sensor_msgs/Joy.h>
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class ManualInput {
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public:
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ManualInput();
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~ManualInput() {}
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protected:
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/**
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* Takes ROS joystick message and converts/publishes to px4 manual control setpoint topic
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*/
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void JoyCallback(const sensor_msgs::JoyConstPtr& msg);
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ros::NodeHandle _n;
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ros::Subscriber _sub_joy;
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ros::Publisher _man_ctrl_sp_pub;
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};
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