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Diffstat (limited to 'src/platforms/ros/nodes/manual_input/manual_input.cpp')
| -rw-r--r-- | src/platforms/ros/nodes/manual_input/manual_input.cpp | 118 |
1 files changed, 118 insertions, 0 deletions
diff --git a/src/platforms/ros/nodes/manual_input/manual_input.cpp b/src/platforms/ros/nodes/manual_input/manual_input.cpp new file mode 100644 index 000000000..688df50e0 --- /dev/null +++ b/src/platforms/ros/nodes/manual_input/manual_input.cpp @@ -0,0 +1,118 @@ +/**************************************************************************** + * + * 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 manual_input.cpp + * Reads from the ros joystick topic and publishes to the px4 manual control input topic. + * + * @author Thomas Gubler <thomasgubler@gmail.com> +*/ + +#include "manual_input.h" + +#include <px4/manual_control_setpoint.h> +#include <platforms/px4_middleware.h> + +ManualInput::ManualInput() : + _n(), + _joy_sub(_n.subscribe("joy", 1, &ManualInput::JoyCallback, this)), + _man_ctrl_sp_pub(_n.advertise<px4::manual_control_setpoint>("manual_control_setpoint", 1)) +{ + double dz_default = 0.2; + /* Load parameters, default values work for Microsoft XBox Controller */ + _n.param("map_x", _param_axes_map[0], 4); + _n.param("scale_x", _param_axes_scale[0], 1.0); + _n.param("off_x", _param_axes_offset[0], 0.0); + _n.param("dz_x", _param_axes_dz[0], dz_default); + + _n.param("map_y", _param_axes_map[1], 3); + _n.param("scale_y", _param_axes_scale[1], -1.0); + _n.param("off_y", _param_axes_offset[1], 0.0); + _n.param("dz_y", _param_axes_dz[1], dz_default); + + _n.param("map_z", _param_axes_map[2], 2); + _n.param("scale_z", _param_axes_scale[2], -0.5); + _n.param("off_z", _param_axes_offset[2], -1.0); + _n.param("dz_z", _param_axes_dz[2], dz_default); + + _n.param("map_r", _param_axes_map[3], 0); + _n.param("scale_r", _param_axes_scale[3], -1.0); + _n.param("off_r", _param_axes_offset[3], 0.0); + _n.param("dz_r", _param_axes_dz[3], dz_default); + +} + +void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr &msg) +{ + px4::manual_control_setpoint msg_out; + + /* Fill px4 manual control setpoint topic with contents from ros joystick */ + /* Map sticks to x, y, z, r */ + MapAxis(msg, _param_axes_map[0], _param_axes_scale[0], _param_axes_offset[0], _param_axes_dz[0], msg_out.x); + MapAxis(msg, _param_axes_map[1], _param_axes_scale[1], _param_axes_offset[1], _param_axes_dz[1], msg_out.y); + MapAxis(msg, _param_axes_map[2], _param_axes_scale[2], _param_axes_offset[2], _param_axes_dz[2], msg_out.z); + MapAxis(msg, _param_axes_map[3], _param_axes_scale[3], _param_axes_offset[3], _param_axes_dz[3], msg_out.r); + //ROS_INFO("x: %1.4f y: %1.4f z: %1.4f r: %1.4f", msg_out.x, msg_out.y, msg_out.z, msg_out.r); + + /* Map buttons to switches */ + //XXX todo + /* for now just publish switches in position for manual flight */ + msg_out.mode_switch = 0; + msg_out.return_switch = 0; + msg_out.posctl_switch = 0; + msg_out.loiter_switch = 0; + msg_out.acro_switch = 0; + msg_out.offboard_switch = 0; + + msg_out.timestamp = px4::get_time_micros(); + + _man_ctrl_sp_pub.publish(msg_out); +} + +void ManualInput::MapAxis(const sensor_msgs::JoyConstPtr &msg, int map_index, double scale, double offset, + double deadzone, float &out) +{ + double val = msg->axes[map_index]; + + if (val + offset > deadzone || val + offset < -deadzone) { + out = (float)((val + offset)) * scale; + } +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "manual_input"); + ManualInput m; + ros::spin(); + return 0; +} |