root / mikrokopter / src / joystick_control.cpp @ 7a6ed02d
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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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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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control.main_loop(); |
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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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control.velocity_control(joy->axes[1], -joy->axes[0]); |
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control.set_yaw(-joy->axes[2]);
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control.set_thrust((joy->axes[3]+1)/2); ///Adjust thrust to be between [0, 1] instead of [-1, 1] |
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return;
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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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} |