Revision 5d4b79f4
| ID | 5d4b79f462bfc53ae26a5f28c77c229ee75a06e5 |
Added joystick_control node, with a skeleton of a JoystickControl class,
modeled after the keyboard_control node. Eventually it will take
messages from joy_node and call velocity_control in MikrokopterControl.
At the moment, it compiles but does nothing.
| mikrokopter/CMakeLists.txt | ||
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| 28 | 28 |
rosbuild_add_executable(externctrl_client src/externctrl_client.cpp) |
| 29 | 29 |
rosbuild_add_executable(keyboard_control src/keyboard_control.cpp src/nav_lib.cpp) |
| 30 | 30 |
target_link_libraries(keyboard_control ncurses) |
| 31 |
rosbuild_add_executable(joystick_control src/joystick_control.cpp src/nav_lib.cpp) |
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| mikrokopter/manifest.xml | ||
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| 9 | 9 |
<review status="unreviewed" notes=""/> |
| 10 | 10 |
<url>https://aeroscoutsim.frc.cs.cmu.edu/redmine/projects/riverine/wiki/Mikrokopter</url> |
| 11 | 11 |
<depend package="std_msgs" /> |
| 12 |
<depend package="sensor_msgs" /> |
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| 12 | 13 |
<depend package="roscpp" /> |
| 13 | 14 |
<rosdep name="libserial" /> |
| 14 | 15 |
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| mikrokopter/src/joystick_control.cpp | ||
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/** |
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* @brief A node responsible for reading joystick messages from ros |
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* joystick_drivers to control the MikroKopter |
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* |
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* @author CMU Quadrotor Project |
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*/ |
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#include <ros/ros.h> |
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#include <sensor_msgs/Joy.h> |
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#include <stdio.h> |
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#include "nav_lib.h" |
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class JoystickControl |
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{
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public: |
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JoystickControl(); |
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void joyLoop(); |
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void joyCallback(const sensor_msgs::Joy::ConstPtr& joy); |
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private: |
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MikrokopterControl control; |
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ros::Publisher pub; |
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ros::NodeHandle n; |
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ros::Subscriber sub; |
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}; |
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JoystickControl::JoystickControl() |
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{
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pub = n.advertise<mikrokopter::Control>("/mikrokopter/req_set_control", 100);
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sub = n.subscribe<sensor_msgs::Joy>("joy", 100,
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&JoystickControl::joyCallback, this); |
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} |
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void JoystickControl::joyLoop() |
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{
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ros::Rate loop_rate(25); |
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while(ros::ok()) |
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{
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ros::spinOnce(); // if joyCallback is called, it will be in here |
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control.publish_on(pub); |
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loop_rate.sleep(); |
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} |
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return; |
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} |
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void JoystickControl::joyCallback(const sensor_msgs::Joy::ConstPtr& joy) |
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{
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// TODO call control.velocity_control(...) based on Joy message |
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} |
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int main(int argc, char** argv) |
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{
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ros::init(argc, argv, "joystick_control"); |
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JoystickControl joy_control; |
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// This commands loops infinitely |
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joy_control.joyLoop(); |
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return 0; |
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} |
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