new dummy attitude estimator skeleton

2 files changed, 131 insertions, 0 deletions

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/attitude_estimator/attitude_estimator.h b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.h
new file mode 100644
index 000000000..e3326b715
--- /dev/null
+++ b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.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 att_estimator.h
+ * Dummy attitude estimator that forwards attitude from gazebo to px4 topic
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+*/
+
+#include "ros/ros.h"
+#include <gazebo_msgs/ModelStates.h>
+
+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;
+
+
+};