Revision 7a6ed02d
ID | 7a6ed02d47f49de02afc7e0e8cc97db92054f38c |
Major changes in mikrokopter for lost connection
-In nav_lib.cpp, added main_loop, so we don't have to keep rewriting it
:). Also, this now publishes to /mk_wrapper/control, which should be
used from now on. However, old publish_on still works as it did.
-Changed turn_to_target and joystick_control (but not any others yet) to
use new nav_lib main_loop.
-Added mk_wrapper, which simply copies messages from /mk_wrapper/control
to /mikrokopter/req_set_control. After recieving the first message, if
it receives no message for a period of 200ms (rosparam max_quiet_time),
it will instead publish 0's and a thrust of 60, ignoring all future
input until restarted.
-Added launch files onboard.launch and joystick.launch, so that we
remember what should run where and can easily set some parameters.
mikrokopter/CMakeLists.txt | ||
---|---|---|
30 | 30 |
target_link_libraries(keyboard_control ncurses) |
31 | 31 |
rosbuild_add_executable(joystick_control src/joystick_control.cpp src/nav_lib.cpp) |
32 | 32 |
rosbuild_add_executable(turn_to_target src/turn_to_target.cpp src/nav_lib.cpp) |
33 |
rosbuild_add_executable(mk_wrapper src/mk_wrapper.cpp) |
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