diff options
| -rw-r--r-- | CMakeLists.txt | 8 | ||||
| -rw-r--r-- | src/platforms/px4_middleware.h | 4 | ||||
| -rw-r--r-- | src/platforms/ros/nodes/commander/commander.cpp | 96 | ||||
| -rw-r--r-- | src/platforms/ros/nodes/commander/commander.h | 62 | ||||
| -rw-r--r-- | src/platforms/ros/nodes/manual_input/manual_input.cpp | 7 | ||||
| -rw-r--r-- | src/platforms/ros/nodes/manual_input/manual_input.h | 2 |
6 files changed, 175 insertions, 4 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt index 220cd762b..6312fa055 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -203,6 +203,14 @@ target_link_libraries(mc_mixer px4 ) +## Commander +add_executable(commander + src/platforms/ros/nodes/commander/commander.cpp) +add_dependencies(manual_input px4_generate_messages_cpp) +target_link_libraries(commander + ${catkin_LIBRARIES} + px4 +) ############# ## Install ## diff --git a/src/platforms/px4_middleware.h b/src/platforms/px4_middleware.h index a8f3ad666..54050de8b 100644 --- a/src/platforms/px4_middleware.h +++ b/src/platforms/px4_middleware.h @@ -42,6 +42,10 @@ #include <stdint.h> #include <unistd.h> +#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__)) +#define __EXPORT +#endif + namespace px4 { diff --git a/src/platforms/ros/nodes/commander/commander.cpp b/src/platforms/ros/nodes/commander/commander.cpp new file mode 100644 index 000000000..f767bbb36 --- /dev/null +++ b/src/platforms/ros/nodes/commander/commander.cpp @@ -0,0 +1,96 @@ +/**************************************************************************** + * + * 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.cpp + * Dummy commander node that publishes the various status topics + * + * @author Thomas Gubler <thomasgubler@gmail.com> +*/ + +#include "commander.h" + +#include <px4/manual_control_setpoint.h> +#include <px4/vehicle_control_mode.h> +#include <px4/actuator_armed.h> +#include <px4/vehicle_status.h> +#include <platforms/px4_middleware.h> + +Commander::Commander() : + _n(), + _man_ctrl_sp_sub(_n.subscribe("manual_control_setpoint", 10, &Commander::ManualControlInputCallback, this)), + _vehicle_control_mode_pub(_n.advertise<px4::vehicle_control_mode>("vehicle_control_mode", 10)), + _actuator_armed_pub(_n.advertise<px4::actuator_armed>("actuator_armed", 10)), + _vehicle_status_pub(_n.advertise<px4::vehicle_status>("vehicle_status", 10)) +{ +} + +void Commander::ManualControlInputCallback(const px4::manual_control_setpointConstPtr& msg) +{ + px4::vehicle_control_mode msg_vehicle_control_mode; + px4::actuator_armed msg_actuator_armed; + px4::vehicle_status msg_vehicle_status; + + /* fill vehicle control mode */ + //XXX hardcoded + msg_vehicle_control_mode.timestamp = px4::get_time_micros(); + msg_vehicle_control_mode.flag_control_manual_enabled = true; + msg_vehicle_control_mode.flag_control_rates_enabled = true; + msg_vehicle_control_mode.flag_control_attitude_enabled = true; + + /* fill actuator armed */ + //XXX hardcoded + msg_actuator_armed.timestamp = px4::get_time_micros(); + msg_actuator_armed.armed = true; + + /* fill vehicle status */ + //XXX hardcoded + msg_vehicle_status.timestamp = px4::get_time_micros(); + msg_vehicle_status.main_state = msg_vehicle_status.MAIN_STATE_MANUAL; + msg_vehicle_status.nav_state = msg_vehicle_status.NAVIGATION_STATE_MANUAL; + msg_vehicle_status.arming_state = msg_vehicle_status.ARMING_STATE_ARMED; + msg_vehicle_status.hil_state = msg_vehicle_status.HIL_STATE_OFF; + msg_vehicle_status.hil_state = msg_vehicle_status.VEHICLE_TYPE_QUADROTOR; + + _vehicle_control_mode_pub.publish(msg_vehicle_control_mode); + _actuator_armed_pub.publish(msg_actuator_armed); + _vehicle_status_pub.publish(msg_vehicle_status); +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "commander"); + Commander m; + ros::spin(); + return 0; +} 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; + +}; diff --git a/src/platforms/ros/nodes/manual_input/manual_input.cpp b/src/platforms/ros/nodes/manual_input/manual_input.cpp index 2ee2dadbc..b125bb180 100644 --- a/src/platforms/ros/nodes/manual_input/manual_input.cpp +++ b/src/platforms/ros/nodes/manual_input/manual_input.cpp @@ -41,10 +41,11 @@ #include "manual_input.h" #include <px4/manual_control_setpoint.h> +#include <platforms/px4_middleware.h> ManualInput::ManualInput() : _n(), - _sub_joy(_n.subscribe("joy", 10, &ManualInput::JoyCallback, this)), + joy_sub(_n.subscribe("joy", 10, &ManualInput::JoyCallback, this)), _man_ctrl_sp_pub(_n.advertise<px4::manual_control_setpoint>("manual_control_setpoint", 10)) { /* Load parameters, default values work for Microsoft XBox Controller */ @@ -87,6 +88,8 @@ void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg) msg_out.acro_switch = 0; msg_out.offboard_switch = 0; + msg_out.timestamp = px4::get_time_micros(); + _man_ctrl_sp_pub.publish(msg_out); } @@ -99,8 +102,6 @@ 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 index fbe635cf2..22a158985 100644 --- a/src/platforms/ros/nodes/manual_input/manual_input.h +++ b/src/platforms/ros/nodes/manual_input/manual_input.h @@ -59,7 +59,7 @@ protected: void MapAxis(const sensor_msgs::JoyConstPtr& msg, int map_index, double scale, double offset, float &out); ros::NodeHandle _n; - ros::Subscriber _sub_joy; + ros::Subscriber joy_sub; ros::Publisher _man_ctrl_sp_pub; /* Parameters */ |