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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-29 11:57:45 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-29 11:57:45 +0100 |
commit | 2c12a524de2c16b33722d2d128515cfd21367b4d (patch) | |
tree | e8ef0a14176d8785d7304cf588bb86b260009e13 | |
parent | b04c80aec7ee91820e5ffa5a09e40aa30b285bc7 (diff) | |
download | px4-firmware-2c12a524de2c16b33722d2d128515cfd21367b4d.tar.gz px4-firmware-2c12a524de2c16b33722d2d128515cfd21367b4d.tar.bz2 px4-firmware-2c12a524de2c16b33722d2d128515cfd21367b4d.zip |
dummy estimator skeleton code
-rw-r--r-- | CMakeLists.txt | 9 | ||||
-rw-r--r-- | src/platforms/ros/nodes/att_estimator/att_estimator.cpp | 61 |
2 files changed, 70 insertions, 0 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt index 519afa0e2..5e0f9b29c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -173,6 +173,15 @@ target_link_libraries(mc_att_control px4 ) +## 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 + ${catkin_LIBRARIES} + px4 +) + ############# ## Install ## diff --git a/src/platforms/ros/nodes/att_estimator/att_estimator.cpp b/src/platforms/ros/nodes/att_estimator/att_estimator.cpp new file mode 100644 index 000000000..986412a1d --- /dev/null +++ b/src/platforms/ros/nodes/att_estimator/att_estimator.cpp @@ -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 att_estimator.cpp + * Dummy attitude estimator that forwards attitude from gazebo to px4 topic + * + * @author Thomas Gubler <thomasgubler@gmail.com> +*/ + +#include "ros/ros.h" +#include "std_msgs/String.h" + +/** + * This tutorial demonstrates simple receipt of messages over the ROS system. + */ +void chatterCallback(const std_msgs::String::ConstPtr& msg) +{ + ROS_INFO("I heard: [%s]", msg->data.c_str()); +} + +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; +} |