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Diffstat (limited to 'src/platforms/ros/nodes/commander/commander.h')
-rw-r--r-- | src/platforms/ros/nodes/commander/commander.h | 79 |
1 files changed, 79 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..58b7257b7 --- /dev/null +++ b/src/platforms/ros/nodes/commander/commander.h @@ -0,0 +1,79 @@ +/**************************************************************************** + * + * 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> +#include <px4/vehicle_control_mode.h> +#include <px4/vehicle_status.h> +#include <px4/parameter_update.h> +#include <px4/actuator_armed.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); + + /** + * Set control mode flags based on stick positions (equiv to code in px4 commander) + */ + void EvalSwitches(const px4::manual_control_setpointConstPtr &msg, + px4::vehicle_status &msg_vehicle_status, + px4::vehicle_control_mode &msg_vehicle_control_mode); + + 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; + ros::Publisher _parameter_update_pub; + + px4::parameter_update _msg_parameter_update; + px4::actuator_armed _msg_actuator_armed; + px4::vehicle_control_mode _msg_vehicle_control_mode; + +}; |