From c9b0dfaaa118e6ec42fb6384e35a40299a078079 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Tue, 30 Dec 2014 08:17:59 +0100 Subject: skeleton code for manual input node --- .../ros/nodes/manual_input/manual_input.h | 61 ++++++++++++++++++++++ 1 file changed, 61 insertions(+) create mode 100644 src/platforms/ros/nodes/manual_input/manual_input.h (limited to 'src/platforms/ros/nodes/manual_input/manual_input.h') diff --git a/src/platforms/ros/nodes/manual_input/manual_input.h b/src/platforms/ros/nodes/manual_input/manual_input.h new file mode 100644 index 000000000..1721d5e81 --- /dev/null +++ b/src/platforms/ros/nodes/manual_input/manual_input.h @@ -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 manual_input.h + * Reads from the ros joystick topic and publishes to the px4 manual control setpoint topic. + * + * @author Thomas Gubler +*/ + +#include "ros/ros.h" +#include + +class ManualInput { +public: + ManualInput(); + + ~ManualInput() {} + +protected: + /** + * Takes ROS joystick message and converts/publishes to px4 manual control setpoint topic + */ + void JoyCallback(const sensor_msgs::JoyConstPtr& msg); + + ros::NodeHandle _n; + ros::Subscriber _sub_joy; + ros::Publisher _man_ctrl_sp_pub; + + +}; -- cgit v1.2.3