From 2c12a524de2c16b33722d2d128515cfd21367b4d Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 29 Dec 2014 11:57:45 +0100
Subject: dummy estimator skeleton code

---
 CMakeLists.txt                                     |  9 ++++
 .../ros/nodes/att_estimator/att_estimator.cpp      | 61 ++++++++++++++++++++++
 2 files changed, 70 insertions(+)
 create mode 100644 src/platforms/ros/nodes/att_estimator/att_estimator.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 519afa0e2..5e0f9b29c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -173,6 +173,15 @@ target_link_libraries(mc_att_control
   px4
 )
 
+## Attitude Estimator dummy
+add_executable(att_estimator
+	src/platforms/ros/nodes/att_estimator/att_estimator.cpp)
+add_dependencies(att_estimator px4_generate_messages_cpp)
+target_link_libraries(att_estimator
+  ${catkin_LIBRARIES}
+  px4
+)
+
 
 #############
 ## Install ##
diff --git a/src/platforms/ros/nodes/att_estimator/att_estimator.cpp b/src/platforms/ros/nodes/att_estimator/att_estimator.cpp
new file mode 100644
index 000000000..986412a1d
--- /dev/null
+++ b/src/platforms/ros/nodes/att_estimator/att_estimator.cpp
@@ -0,0 +1,61 @@
+/****************************************************************************
+ *
+ *   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 att_estimator.cpp
+ * Dummy attitude estimator that forwards attitude from gazebo to px4 topic
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+*/
+
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+
+/**
+ * This tutorial demonstrates simple receipt of messages over the ROS system.
+ */
+void chatterCallback(const std_msgs::String::ConstPtr& msg)
+{
+  ROS_INFO("I heard: [%s]", msg->data.c_str());
+}
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "att_estimator");
+  ros::NodeHandle n;
+  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
+
+  ros::spin();
+
+  return 0;
+}
-- 
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