new dummy attitude estimator skeleton

5 files changed, 95 insertions, 27 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 258868027..d506cadb1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -177,10 +177,10 @@ target_link_libraries(mc_att_control
 )
 
 ## Attitude Estimator dummy
-add_executable(att_estimator
-	src/platforms/ros/nodes/att_estimator/att_estimator.cpp)
-add_dependencies(att_estimator px4_generate_messages_cpp)
-target_link_libraries(att_estimator
+add_executable(attitude_estimator
+	src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
+add_dependencies(attitude_estimator px4_generate_messages_cpp)
+target_link_libraries(attitude_estimator
   ${catkin_LIBRARIES}
   px4
 )
diff --git a/launch/multicopter.launch b/launch/multicopter.launch
index 5db0e6415..8cc89450d 100644
--- a/launch/multicopter.launch
+++ b/launch/multicopter.launch
@@ -2,7 +2,7 @@
 
 <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="attitude_estimator" type="attitude_estimator"/>
 	<node pkg="px4" name="mc_att_control" type="mc_att_control"/>
 </group>
 
diff --git a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp
new file mode 100644
index 000000000..7504091eb
--- /dev/null
+++ b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   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 att_estimator.cpp
+ * Dummy attitude estimator that forwards attitude from gazebo to px4 topic
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+*/
+
+#include "attitude_estimator.h"
+
+#include <px4/vehicle_attitude.h>
+
+AttitudeEstimator::AttitudeEstimator() :
+	_n(),
+	_sub_modelstates(_n.subscribe("joy", 10, &AttitudeEstimator::ModelStatesCallback, this)),
+	_vehicle_attitude_pub(_n.advertise<px4::vehicle_attitude>("vehicle_attitude", 10))
+{
+}
+
+void AttitudeEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstPtr& msg)
+{
+	px4::vehicle_attitude msg_out;
+
+	/* Fill px4 attitude topic with contents from modelstates topic */
+	//XXX
+
+	_vehicle_attitude_pub.publish(msg_out);
+}
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "attitude_estimator");
+  AttitudeEstimator m;
+
+  ros::spin();
+
+  return 0;
+}
diff --git a/src/platforms/ros/nodes/att_estimator/att_estimator.cpp b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.h
index fa021fff0..e3326b715 100644
--- a/src/platforms/ros/nodes/att_estimator/att_estimator.cpp
+++ b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.h
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file att_estimator.cpp
+ * @file att_estimator.h
  * Dummy attitude estimator that forwards attitude from gazebo to px4 topic
  *
  * @author Thomas Gubler <thomasgubler@gmail.com>
@@ -40,23 +40,22 @@
 
 #include "ros/ros.h"
 #include <gazebo_msgs/ModelStates.h>
-//#include "std_msgs/String.h"
 
-/**
- * This tutorial demonstrates simple receipt of messages over the ROS system.
- */
-void chatterCallback(const gazebo_msgs::ModelStates &msg)
-{
-  // try to read out message here
-}
-
-int main(int argc, char **argv)
-{
-  ros::init(argc, argv, "att_estimator");
-  ros::NodeHandle n;
-  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
-
-  ros::spin();
-
-  return 0;
-}
+class AttitudeEstimator {
+public:
+	AttitudeEstimator();
+
+	~AttitudeEstimator() {}
+
+protected:
+	/**
+	 * Takes ROS joystick message and converts/publishes to px4 manual control setpoint topic
+	 */
+	void ModelStatesCallback(const gazebo_msgs::ModelStatesConstPtr& msg);
+
+	ros::NodeHandle _n;
+	ros::Subscriber _sub_modelstates;
+	ros::Publisher _vehicle_attitude_pub;
+
+
+};
diff --git a/src/platforms/ros/nodes/manual_input/manual_input.cpp b/src/platforms/ros/nodes/manual_input/manual_input.cpp
index 531ffa640..41e597ab7 100644
--- a/src/platforms/ros/nodes/manual_input/manual_input.cpp
+++ b/src/platforms/ros/nodes/manual_input/manual_input.cpp
@@ -45,11 +45,10 @@
 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))
+	_man_ctrl_sp_pub(_n.advertise<px4::manual_control_setpoint>("manual_control_setpoint", 10))
 {
 }
 
-
 void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg)
 {
 	px4::manual_control_setpoint msg_out;