skeleton code for manual input node

4 files changed, 144 insertions, 0 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7893c28b1..258868027 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,6 +12,7 @@ find_package(catkin REQUIRED COMPONENTS
   message_generation
   cmake_modules
   gazebo_msgs
+  sensor_msgs
 )
 find_package(Eigen REQUIRED)
 
@@ -184,6 +185,15 @@ target_link_libraries(att_estimator
   px4
 )
 
+## Manual input
+add_executable(manual_input
+	src/platforms/ros/nodes/manual_input/manual_input.cpp)
+add_dependencies(manual_input px4_generate_messages_cpp)
+target_link_libraries(manual_input
+  ${catkin_LIBRARIES}
+  px4
+)
+
 
 #############
 ## Install ##
diff --git a/launch/multicopter.launch b/launch/multicopter.launch
index 57b7653d5..5db0e6415 100644
--- a/launch/multicopter.launch
+++ b/launch/multicopter.launch
@@ -1,6 +1,8 @@
 <launch>
 
 <group ns="px4_example">
+	<node pkg="px4" name="manual_input" type="manual_input"/>
+	<node pkg="px4" name="att_estimator" type="att_estimator"/>
 	<node pkg="px4" name="mc_att_control" type="mc_att_control"/>
 </group>
 
diff --git a/src/platforms/ros/nodes/manual_input/manual_input.cpp b/src/platforms/ros/nodes/manual_input/manual_input.cpp
new file mode 100644
index 000000000..531ffa640
--- /dev/null
+++ b/src/platforms/ros/nodes/manual_input/manual_input.cpp
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 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 manual_input.cpp
+ * Reads from the ros joystick topic and publishes to the px4 manual control input topic.
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+*/
+
+#include "manual_input.h"
+
+#include <px4/manual_control_setpoint.h>
+
+ManualInput::ManualInput() :
+	_n(),
+	_sub_joy(_n.subscribe("joy", 10, &ManualInput::JoyCallback, this)),
+	_man_ctrl_sp_pub(_n.advertise<px4::manual_control_setpoint>("manual_control_setpoint", 1000))
+{
+}
+
+
+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
+
+	_man_ctrl_sp_pub.publish(msg_out);
+}
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "manual_input");
+  ManualInput m;
+
+  ros::spin();
+
+  return 0;
+}
diff --git a/src/platforms/ros/nodes/manual_input/manual_input.h b/src/platforms/ros/nodes/manual_input/manual_input.h
new file mode 100644
index 000000000..1721d5e81
--- /dev/null
+++ b/src/platforms/ros/nodes/manual_input/manual_input.h
@@ -0,0 +1,61 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 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 manual_input.h
+ * Reads from the ros joystick topic and publishes to the px4 manual control setpoint topic.
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+*/
+
+#include "ros/ros.h"
+#include <sensor_msgs/Joy.h>
+
+class ManualInput {
+public:
+	ManualInput();
+
+	~ManualInput() {}
+
+protected:
+	/**
+	 * Takes ROS joystick message and converts/publishes to px4 manual control setpoint topic
+	 */
+	void JoyCallback(const sensor_msgs::JoyConstPtr& msg);
+
+	ros::NodeHandle _n;
+	ros::Subscriber _sub_joy;
+	ros::Publisher _man_ctrl_sp_pub;
+
+
+};