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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-30 08:17:59 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-30 08:17:59 +0100 |
commit | c9b0dfaaa118e6ec42fb6384e35a40299a078079 (patch) | |
tree | a912dec57a8a60bd2b9dc560883d2751d574cfb2 | |
parent | 1c6da49e3f2ea805d6b0a228dd59d95a24d70d9c (diff) | |
download | px4-firmware-c9b0dfaaa118e6ec42fb6384e35a40299a078079.tar.gz px4-firmware-c9b0dfaaa118e6ec42fb6384e35a40299a078079.tar.bz2 px4-firmware-c9b0dfaaa118e6ec42fb6384e35a40299a078079.zip |
skeleton code for manual input node
-rw-r--r-- | CMakeLists.txt | 10 | ||||
-rw-r--r-- | launch/multicopter.launch | 2 | ||||
-rw-r--r-- | src/platforms/ros/nodes/manual_input/manual_input.cpp | 71 | ||||
-rw-r--r-- | src/platforms/ros/nodes/manual_input/manual_input.h | 61 |
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; + + +}; |