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/****************************************************************************
*
* 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 demo_offboard_position_Setpoints.cpp
*
* Demo for sending offboard position setpoints to mavros to show offboard position control in SITL
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "demo_offboard_attitude_setpoints.h"
#include <platforms/px4_middleware.h>
#include <geometry_msgs/PoseStamped.h>
#include <std_msgs/Float64.h>
#include <math.h>
#include <tf/transform_datatypes.h>
DemoOffboardAttitudeSetpoints::DemoOffboardAttitudeSetpoints() :
_n(),
_attitude_sp_pub(_n.advertise<geometry_msgs::PoseStamped>("mavros/setpoint_attitude/attitude", 1)),
_thrust_sp_pub(_n.advertise<std_msgs::Float64>("mavros/setpoint_attitude/att_throttle", 1))
{
}
int DemoOffboardAttitudeSetpoints::main()
{
px4::Rate loop_rate(10);
while (ros::ok()) {
loop_rate.sleep();
ros::spinOnce();
/* Publish example offboard attitude setpoint */
geometry_msgs::PoseStamped pose;
tf::Quaternion q = tf::createQuaternionFromRPY(0.0, 0.1 * (sinf(0.5 * (float)px4::get_time_micros() / 1000000.0f)) , 0.0);
quaternionTFToMsg(q, pose.pose.orientation);
_attitude_sp_pub.publish(pose);
std_msgs::Float64 thrust;
thrust.data = 0.4f + 0.25 * (sinf((float)px4::get_time_micros() / 1000000.0f)); // just some example throttle input that makes the quad 'jump'
_thrust_sp_pub.publish(thrust);
}
return 0;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "demo_offboard_position_setpoints");
DemoOffboardAttitudeSetpoints d;
return d.main();
}
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