From 3956a2c836df9aa411815b4a4027fdcfb864f041 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 6 Oct 2014 08:12:41 -0700
Subject: Baby steps towards PX4 ROS nodes

---
 CMakeLists.txt                       |  4 +--
 include/px4.h                        | 47 ++++++++++++++++++++++++++++++++++++
 src/examples/publisher/publisher.cpp | 10 ++++----
 3 files changed, 54 insertions(+), 7 deletions(-)
 create mode 100644 include/px4.h

diff --git a/CMakeLists.txt b/CMakeLists.txt
index d370c5a3f..144bdcbc3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -80,7 +80,7 @@ generate_messages(
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-#  INCLUDE_DIRS include
+  INCLUDE_DIRS include
 #  LIBRARIES px4
 #  CATKIN_DEPENDS roscpp rospy std_msgs
 #  DEPENDS system_lib
@@ -92,7 +92,7 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-# include_directories(include)
+include_directories(include)
 include_directories(
   ${catkin_INCLUDE_DIRS}
 )
diff --git a/include/px4.h b/include/px4.h
new file mode 100644
index 000000000..7dedd5f82
--- /dev/null
+++ b/include/px4.h
@@ -0,0 +1,47 @@
+/****************************************************************************
+ *
+ *   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 px4.h
+ *
+ * Main system header with common convenience functions
+ */
+
+#ifdef __linux
+#include "ros/ros.h"
+#define px4_warnx ROS_WARN
+#define px4_infox ROS_INFO
+#else
+#define px4_warnx warnx
+#define px4_infox warnx
+#endif
\ No newline at end of file
diff --git a/src/examples/publisher/publisher.cpp b/src/examples/publisher/publisher.cpp
index 2c0f84476..cc88cd543 100644
--- a/src/examples/publisher/publisher.cpp
+++ b/src/examples/publisher/publisher.cpp
@@ -24,9 +24,9 @@
  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  * POSSIBILITY OF SUCH DAMAGE.
  */
-// %Tag(FULLTEXT)%
-// %Tag(ROS_HEADER)%
-#include "ros/ros.h"
+
+#include <px4.h>
+
 // %EndTag(ROS_HEADER)%
 // %Tag(MSG_HEADER)%
 #include "std_msgs/String.h"
@@ -50,7 +50,7 @@ int main(int argc, char **argv)
    * part of the ROS system.
    */
 // %Tag(INIT)%
-  ros::init(argc, argv, "talker");
+  ros::init(argc, argv, "px4_publisher");
 // %EndTag(INIT)%
 
   /**
@@ -108,7 +108,7 @@ int main(int argc, char **argv)
 // %EndTag(FILL_MESSAGE)%
 
 // %Tag(ROSCONSOLE)%
-    ROS_INFO("%s", msg.data.c_str());
+    px4_warnx("%s", msg.data.c_str());
 // %EndTag(ROSCONSOLE)%
 
     /**
-- 
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