commander dummy node

1 files changed, 62 insertions, 0 deletions

diff --git a/src/platforms/ros/nodes/commander/commander.h b/src/platforms/ros/nodes/commander/commander.h
new file mode 100644
index 000000000..d7fe0a4ca
--- /dev/null
+++ b/src/platforms/ros/nodes/commander/commander.h
@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   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 commander.h
+ * Dummy commander node that publishes the various status topics
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+*/
+
+#include "ros/ros.h"
+#include <px4/manual_control_setpoint.h>
+
+class Commander {
+public:
+	Commander();
+
+	~Commander() {}
+
+protected:
+	/**
+	 * Based on manual control input the status will be set
+	 */
+	void ManualControlInputCallback(const px4::manual_control_setpointConstPtr& msg);
+
+	ros::NodeHandle _n;
+	ros::Subscriber _man_ctrl_sp_sub;
+	ros::Publisher _vehicle_control_mode_pub;
+	ros::Publisher _actuator_armed_pub;
+	ros::Publisher _vehicle_status_pub;
+
+};