From 27511324ff41caa069505524f646c25835fb796d Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Tue, 17 Feb 2015 22:03:20 +0100 Subject: ros: add offboard attitude sp demo (WIP) --- CMakeLists.txt | 9 +++ ...rdrone_empty_world_offboard_attitudedemo.launch | 10 +++ .../demo_offboard_attitude_setpoints.cpp | 83 ++++++++++++++++++++++ .../demo_offboard_attitude_setpoints.h | 58 +++++++++++++++ 4 files changed, 160 insertions(+) create mode 100644 launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch create mode 100644 src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp create mode 100644 src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.h diff --git a/CMakeLists.txt b/CMakeLists.txt index f7c694955..01b52a436 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -263,6 +263,15 @@ target_link_libraries(demo_offboard_position_setpoints px4 ) +## Offboard Attitude Setpoint Demo +add_executable(demo_offboard_attitude_setpoints + src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp) +add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp) +target_link_libraries(demo_offboard_attitude_setpoints + ${catkin_LIBRARIES} + px4 +) + ############# ## Install ## ############# diff --git a/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch b/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch new file mode 100644 index 000000000..3998409de --- /dev/null +++ b/launch/gazebo_ardrone_empty_world_offboard_attitudedemo.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp b/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp new file mode 100644 index 000000000..402d47783 --- /dev/null +++ b/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp @@ -0,0 +1,83 @@ +/**************************************************************************** + * + * Copyright (c) 2015 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 demo_offboard_position_Setpoints.cpp + * + * Demo for sending offboard position setpoints to mavros to show offboard position control in SITL + * + * @author Thomas Gubler +*/ + +#include "demo_offboard_attitude_setpoints.h" + +#include +#include +#include + +DemoOffboardAttitudeSetpoints::DemoOffboardAttitudeSetpoints() : + _n(), + _attitude_sp_pub(_n.advertise("mavros/setpoint/attitude", 1)), + _thrust_sp_pub(_n.advertise("mavros/setpoint/att_throttle", 1)) +{ +} + + +int DemoOffboardAttitudeSetpoints::main() +{ + px4::Rate loop_rate(10); + + while (ros::ok()) { + loop_rate.sleep(); + ros::spinOnce(); + + /* Publish example offboard attitude setpoint */ + geometry_msgs::PoseStamped pose; + pose.pose.position.x = 0; + pose.pose.position.y = 0; + pose.pose.position.z = 1; + _attitude_sp_pub.publish(pose); + + std_msgs::Float64 thrust; + thrust.data = 0.5; + _thrust_sp_pub.publish(thrust); + } + return 0; +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "demo_offboard_position_setpoints"); + DemoOffboardAttitudeSetpoints d; + return d.main(); +} diff --git a/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.h b/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.h new file mode 100644 index 000000000..d7b7a37ba --- /dev/null +++ b/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.h @@ -0,0 +1,58 @@ +/**************************************************************************** + * + * Copyright (c) 2015 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 demo_offboard_attitude_Setpoints.h + * + * Demo for sending offboard position setpoints to mavros to show offboard position control in SITL + * + * @author Thomas Gubler +*/ + +#include "ros/ros.h" +#include + +class DemoOffboardAttitudeSetpoints +{ +public: + DemoOffboardAttitudeSetpoints(); + + ~DemoOffboardAttitudeSetpoints() {} + + int main(); + +protected: + ros::NodeHandle _n; + ros::Publisher _attitude_sp_pub; + ros::Publisher _thrust_sp_pub; +}; -- cgit v1.2.3