diff options
-rw-r--r-- | launch/ardrone.launch | 7 | ||||
-rw-r--r-- | launch/gazebo_ardrone_empty_world.launch | 9 | ||||
-rw-r--r-- | launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch | 11 | ||||
-rw-r--r-- | launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch | 11 | ||||
-rw-r--r-- | launch/gazebo_ardrone_house_world.launch | 9 | ||||
-rw-r--r-- | launch/gazebo_iris_empty_world.launch | 9 | ||||
-rw-r--r-- | launch/gazebo_iris_house_world.launch | 7 | ||||
-rw-r--r-- | launch/gazebo_iris_outdoor_world.launch | 7 | ||||
-rw-r--r-- | launch/iris.launch | 7 | ||||
-rw-r--r-- | launch/multicopter.launch | 3 | ||||
-rw-r--r-- | launch/multicopter_w.launch | 7 | ||||
-rw-r--r-- | launch/multicopter_x.launch | 7 | ||||
-rw-r--r-- | src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp | 6 |
13 files changed, 67 insertions, 33 deletions
diff --git a/launch/ardrone.launch b/launch/ardrone.launch index 3173e7cf1..809eab292 100644 --- a/launch/ardrone.launch +++ b/launch/ardrone.launch @@ -1,8 +1,11 @@ <launch> +<arg name="ns"/> -<include file="$(find px4)/launch/multicopter_x.launch" /> +<include file="$(find px4)/launch/multicopter_x.launch"> + <arg name="ns" value="$(arg ns)"/> +</include> -<group ns="px4_multicopter"> +<group ns="$(arg ns)"> <param name="MPC_XY_P" type="double" value="1.0" /> <param name="MPC_XY_FF" type="double" value="0.0" /> <param name="MPC_XY_VEL_P" type="double" value="0.01" /> diff --git a/launch/gazebo_ardrone_empty_world.launch b/launch/gazebo_ardrone_empty_world.launch index 22bfb0c79..122a27867 100644 --- a/launch/gazebo_ardrone_empty_world.launch +++ b/launch/gazebo_ardrone_empty_world.launch @@ -4,15 +4,18 @@ <arg name="gui" default="true"/> <arg name="enable_logging" default="false"/> <arg name="enable_ground_truth" default="false"/> - <arg name="log_file" default="ardrone"/> + <arg name="ns" default="ardrone"/> + <arg name="log_file" default="$(arg ns)"/> - <include file="$(find rotors_gazebo)/launch/ardrone_empty_world_with_joy.launch"> + <include file="$(find rotors_gazebo)/launch/ardrone_empty_world.launch"> <arg name="headless" value="$(arg headless)"/> <arg name="gui" value="$(arg gui)"/> <arg name="enable_logging" value="$(arg enable_logging)" /> <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" /> <arg name="log_file" value="$(arg log_file)"/> </include> - <include file="$(find px4)/launch/ardrone.launch" /> + <include file="$(find px4)/launch/ardrone.launch"> + <arg name="ns" value="$(arg ns)"/> + </include> </launch> diff --git a/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch b/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch index 717244abf..596496194 100644 --- a/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch +++ b/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch @@ -1,9 +1,12 @@ - <launch> +<arg name="ns" default="ardrone"/> -<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch" /> +<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch"> + <arg name="ns" value="$(arg ns)"/> +</include> <include file="$(find px4)/launch/mavros_sitl.launch" /> - -<node pkg="px4" name="demo_offboard_attitude_setpoints" type="demo_offboard_attitude_setpoints"/> +<group ns="$(arg ns)"> + <node pkg="px4" name="demo_offboard_attitude_setpoints" type="demo_offboard_attitude_setpoints"/> +</group> </launch> diff --git a/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch b/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch index 9ff7f7d1f..46f427f93 100644 --- a/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch +++ b/launch/gazebo_ardrone_empty_world_offboard_positiondemo.launch @@ -1,9 +1,12 @@ - <launch> +<arg name="ns" default="ardrone"/> -<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch" /> +<include file="$(find px4)/launch/gazebo_ardrone_empty_world.launch"> + <arg name="ns" value="$(arg ns)"/> +</include> <include file="$(find px4)/launch/mavros_sitl.launch" /> - -<node pkg="px4" name="demo_offboard_position_setpoints" type="demo_offboard_position_setpoints"/> +<group ns="$(arg ns)"> + <node pkg="px4" name="demo_offboard_position_setpoints" type="demo_offboard_position_setpoints"/> +</group> </launch> diff --git a/launch/gazebo_ardrone_house_world.launch b/launch/gazebo_ardrone_house_world.launch index c636868eb..89f27c901 100644 --- a/launch/gazebo_ardrone_house_world.launch +++ b/launch/gazebo_ardrone_house_world.launch @@ -4,15 +4,18 @@ <arg name="gui" default="true"/> <arg name="enable_logging" default="false"/> <arg name="enable_ground_truth" default="true"/> - <arg name="log_file" default="ardrone"/> + <arg name="ns" default="ardrone"/> + <arg name="log_file" default="$(arg ns)"/> - <include file="$(find rotors_gazebo)/launch/ardrone_house_world_with_joy.launch"> + <include file="$(find rotors_gazebo)/launch/ardrone_house_world.launch"> <arg name="headless" value="$(arg headless)"/> <arg name="gui" value="$(arg gui)"/> <arg name="enable_logging" value="$(arg enable_logging)" /> <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" /> <arg name="log_file" value="$(arg log_file)"/> </include> - <include file="$(find px4)/launch/ardrone.launch" /> + <include file="$(find px4)/launch/ardrone.launch"> + <arg name="ns" value="$(arg ns)"/> + </include> </launch> diff --git a/launch/gazebo_iris_empty_world.launch b/launch/gazebo_iris_empty_world.launch index 8a4c128b9..0e80208e6 100644 --- a/launch/gazebo_iris_empty_world.launch +++ b/launch/gazebo_iris_empty_world.launch @@ -4,15 +4,18 @@ <arg name="gui" default="true"/> <arg name="enable_logging" default="false"/> <arg name="enable_ground_truth" default="true"/> - <arg name="log_file" default="iris"/> + <arg name="ns" default="iris"/> + <arg name="log_file" default="$(arg ns)"/> - <include file="$(find rotors_gazebo)/launch/iris_empty_world_with_joy.launch"> + <include file="$(find rotors_gazebo)/launch/iris_empty_world.launch"> <arg name="headless" value="$(arg headless)"/> <arg name="gui" value="$(arg gui)"/> <arg name="enable_logging" value="$(arg enable_logging)" /> <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" /> <arg name="log_file" value="$(arg log_file)"/> </include> - <include file="$(find px4)/launch/iris.launch" /> + <include file="$(find px4)/launch/iris.launch"> + <arg name="ns" value="$(arg ns)"/> + </include> </launch> diff --git a/launch/gazebo_iris_house_world.launch b/launch/gazebo_iris_house_world.launch index e4f9f6532..d0e824d4b 100644 --- a/launch/gazebo_iris_house_world.launch +++ b/launch/gazebo_iris_house_world.launch @@ -4,7 +4,8 @@ <arg name="gui" default="true"/> <arg name="enable_logging" default="false"/> <arg name="enable_ground_truth" default="true"/> - <arg name="log_file" default="iris"/> + <arg name="ns" default="iris"/> + <arg name="log_file" default="$(arg ns)"/> <include file="$(find rotors_gazebo)/launch/iris_house_world_with_joy.launch"> <arg name="headless" value="$(arg headless)"/> @@ -13,6 +14,8 @@ <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" /> <arg name="log_file" value="$(arg log_file)"/> </include> - <include file="$(find px4)/launch/iris.launch" /> + <include file="$(find px4)/launch/iris.launch"> + <arg name="ns" value="$(arg ns)"/> + </include> </launch> diff --git a/launch/gazebo_iris_outdoor_world.launch b/launch/gazebo_iris_outdoor_world.launch index 22d55502d..e75e57b87 100644 --- a/launch/gazebo_iris_outdoor_world.launch +++ b/launch/gazebo_iris_outdoor_world.launch @@ -4,7 +4,8 @@ <arg name="gui" default="true"/> <arg name="enable_logging" default="false"/> <arg name="enable_ground_truth" default="true"/> - <arg name="log_file" default="iris"/> + <arg name="ns" default="iris"/> + <arg name="log_file" default="$(arg ns)"/> <include file="$(find rotors_gazebo)/launch/iris_outdoor_world_with_joy.launch"> <arg name="headless" value="$(arg headless)"/> @@ -13,6 +14,8 @@ <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" /> <arg name="log_file" value="$(arg log_file)"/> </include> - <include file="$(find px4)/launch/iris.launch" /> + <include file="$(find px4)/launch/iris.launch"> + <arg name="ns" value="$(arg ns)"/> + </include> </launch> diff --git a/launch/iris.launch b/launch/iris.launch index be33cb85f..fb9c0e697 100644 --- a/launch/iris.launch +++ b/launch/iris.launch @@ -1,8 +1,11 @@ <launch> +<arg name="ns"/> -<include file="$(find px4)/launch/multicopter_w.launch" /> +<include file="$(find px4)/launch/multicopter_w.launch"> + <arg name="ns" value="$(arg ns)"/> +</include> -<group ns="px4_multicopter"> +<group ns="$(arg ns)"> <param name="mixer" type="string" value="i" /> <param name="MPC_XY_P" type="double" value="1.0" /> <param name="MPC_XY_FF" type="double" value="0.0" /> diff --git a/launch/multicopter.launch b/launch/multicopter.launch index bc0e37771..6882f2413 100644 --- a/launch/multicopter.launch +++ b/launch/multicopter.launch @@ -1,6 +1,7 @@ <launch> +<arg name="ns"/> -<group ns="px4_multicopter"> +<group ns="$(arg ns)"> <node pkg="joy" name="joy_node" type="joy_node"/> <node pkg="px4" name="manual_input" type="manual_input"/> <node pkg="px4" name="commander" type="commander"/> diff --git a/launch/multicopter_w.launch b/launch/multicopter_w.launch index f124082aa..66c30d186 100644 --- a/launch/multicopter_w.launch +++ b/launch/multicopter_w.launch @@ -1,8 +1,11 @@ <launch> +<arg name="ns"/> -<include file="$(find px4)/launch/multicopter.launch" /> +<include file="$(find px4)/launch/multicopter.launch"> + <arg name="ns" value="$(arg ns)"/> +</include> -<group ns="px4_multicopter"> +<group ns="$(arg ns)"> <param name="mixer" type="string" value="w" /> </group> diff --git a/launch/multicopter_x.launch b/launch/multicopter_x.launch index 6355b87be..c686eba39 100644 --- a/launch/multicopter_x.launch +++ b/launch/multicopter_x.launch @@ -1,8 +1,11 @@ <launch> +<arg name="ns"/> -<include file="$(find px4)/launch/multicopter.launch" /> +<include file="$(find px4)/launch/multicopter.launch"> + <arg name="ns" value="$(arg ns)"/> +</include> -<group ns="px4_multicopter"> +<group ns="$(arg ns)"> <param name="mixer" type="string" value="x" /> </group> diff --git a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp index 1098ec73b..9b48294b6 100644 --- a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp +++ b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp @@ -40,7 +40,7 @@ #include <ros/ros.h> #include <px4.h> #include <lib/mathlib/mathlib.h> -#include <mav_msgs/MotorSpeed.h> +#include <mav_msgs/CommandMotorSpeed.h> #include <string> class MultirotorMixer @@ -129,7 +129,7 @@ MultirotorMixer::MultirotorMixer(): _rotors(_config_index[0]) { _sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback, this); - _pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands", 10); + _pub = _n.advertise<mav_msgs::CommandMotorSpeed>("command/motor_speed", 10); if (!_n.hasParam("motor_scaling_radps")) { _n.setParam("motor_scaling_radps", 150.0); @@ -237,7 +237,7 @@ void MultirotorMixer::actuatorControlsCallback(const px4::actuator_controls_0 &m mix(); // publish message - mav_msgs::MotorSpeed rotor_vel_msg; + mav_msgs::CommandMotorSpeed rotor_vel_msg; double scaling; double offset; _n.getParamCached("motor_scaling_radps", scaling); |