From 2d0c5616cbc89f0621e2e8eb56b06635ecedfd90 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Tue, 10 Feb 2015 22:35:32 +0100 Subject: ros: add skeleton for mavlink node --- src/platforms/ros/nodes/mavlink/mavlink.cpp | 60 +++++++++++++++++++++++++++++ src/platforms/ros/nodes/mavlink/mavlink.h | 60 +++++++++++++++++++++++++++++ 2 files changed, 120 insertions(+) create mode 100644 src/platforms/ros/nodes/mavlink/mavlink.cpp create mode 100644 src/platforms/ros/nodes/mavlink/mavlink.h (limited to 'src/platforms') diff --git a/src/platforms/ros/nodes/mavlink/mavlink.cpp b/src/platforms/ros/nodes/mavlink/mavlink.cpp new file mode 100644 index 000000000..e64e576bd --- /dev/null +++ b/src/platforms/ros/nodes/mavlink/mavlink.cpp @@ -0,0 +1,60 @@ +/**************************************************************************** + * + * 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 mavlink.cpp + * Dummy mavlink node that interfaces to a mavros node via UDP + * This simulates the onboard mavlink app to some degree. It should be possible to + * send offboard setpoints via mavros to the SITL setup the same way as on the real system + * + * @author Thomas Gubler +*/ + +#include "mavlink.h" + +#include + +using namespace px4; + +Mavlink::Mavlink() : + _n() +{ +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "mavlink"); + Mavlink m; + ros::spin(); + return 0; +} diff --git a/src/platforms/ros/nodes/mavlink/mavlink.h b/src/platforms/ros/nodes/mavlink/mavlink.h new file mode 100644 index 000000000..2723df35c --- /dev/null +++ b/src/platforms/ros/nodes/mavlink/mavlink.h @@ -0,0 +1,60 @@ +/**************************************************************************** + * + * 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 mavlink.h + * Dummy mavlink node that interfaces to a mavros node via UDP + * This simulates the onboard mavlink app to some degree. It should be possible to + * send offboard setpoints via mavros to the SITL setup the same way as on the real system + * + * @author Thomas Gubler +*/ + +#include "ros/ros.h" + +namespace px4 +{ + +class Mavlink +{ +public: + Mavlink(); + + ~Mavlink() {} + +protected: + + ros::NodeHandle _n; +}; + +} -- cgit v1.2.3