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/****************************************************************************
*
* 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 commander.h
* Dummy commander node that publishes the various status topics
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "ros/ros.h"
#include <px4/manual_control_setpoint.h>
#include <px4/vehicle_control_mode.h>
#include <px4/vehicle_status.h>
#include <px4/parameter_update.h>
#include <px4/actuator_armed.h>
class Commander
{
public:
Commander();
~Commander() {}
protected:
/**
* Based on manual control input the status will be set
*/
void ManualControlInputCallback(const px4::manual_control_setpointConstPtr &msg);
/**
* Set control mode flags based on stick positions (equiv to code in px4 commander)
*/
void EvalSwitches(const px4::manual_control_setpointConstPtr &msg,
px4::vehicle_status &msg_vehicle_status,
px4::vehicle_control_mode &msg_vehicle_control_mode);
ros::NodeHandle _n;
ros::Subscriber _man_ctrl_sp_sub;
ros::Publisher _vehicle_control_mode_pub;
ros::Publisher _actuator_armed_pub;
ros::Publisher _vehicle_status_pub;
ros::Publisher _parameter_update_pub;
px4::parameter_update _msg_parameter_update;
px4::actuator_armed _msg_actuator_armed;
px4::vehicle_control_mode _msg_vehicle_control_mode;
};
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