Revision 807b0a81

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mikrokopter/joystick_node/CMakeLists.txt
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cmake_minimum_required(VERSION 2.4.6)
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include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
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rosbuild_init()
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set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
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set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
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#rosbuild_genmsg()
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#rosbuild_gensrv()
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rosbuild_add_executable(${PROJECT_NAME} src/joystick_node.cpp)
mikrokopter/joystick_node/Makefile
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include $(shell rospack find mk)/cmake.mk
mikrokopter/joystick_node/mainpage.dox
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/**
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\mainpage
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\htmlinclude manifest.html
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\b joystick_node is ... 
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<!-- 
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Provide an overview of your package.
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-->
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\section codeapi Code API
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<!--
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Provide links to specific auto-generated API documentation within your
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package that is of particular interest to a reader. Doxygen will
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document pretty much every part of your code, so do your best here to
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point the reader to the actual API.
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If your codebase is fairly large or has different sets of APIs, you
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should use the doxygen 'group' tag to keep these APIs together. For
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example, the roscpp documentation has 'libros' group.
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-->
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*/
mikrokopter/joystick_node/manifest.xml
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<package>
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  <description brief="joystick_node">
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    Publishes roll/pitch/yaw settings to /mikrokopter/velocity and /mikrokopter/yaw
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  </description>
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  <author>Tom Mullins</author>
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  <depend package="roscpp"/>
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  <depend package="std_msgs"/>
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  <depend package="sensor_msgs"/>
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  <depend package="mikrokopter"/>
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</package>
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mikrokopter/joystick_node/src/joystick_node.cpp
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#include "ros/ros.h"
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#include "std_msgs/Float64.h"
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#include "std_msgs/Bool.h"
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#include "sensor_msgs/Joy.h"
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#include "mikrokopter/Velocity2D.h"
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// TODO
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// publish to /altitude_node/enable based on a button
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// publish velocity like in joystick_control.cpp
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class JoystickNode
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{
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public:
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  JoystickNode();
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  void main_loop() {ros::spin();}
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  void joy_cb(const sensor_msgs::Joy::ConstPtr& joy);
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private:
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  bool altitude_enabled;
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  bool alt_en_pressed;
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  ros::NodeHandle nh;
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  ros::Subscriber joy_sub;
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  ros::Publisher velocity_pub;
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  ros::Publisher yaw_pub;
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  ros::Publisher thrust_pub;
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  ros::Publisher altitude_enable_pub;
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};
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JoystickNode::JoystickNode() : altitude_enabled(false), alt_en_pressed(false)
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{
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  joy_sub = nh.subscribe<sensor_msgs::Joy>("/joy", 100, &JoystickNode::joy_cb,
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      this);
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  velocity_pub = nh.advertise<mikrokopter::Velocity2D>("/mikrokopter/velocity",
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      100);
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  yaw_pub = nh.advertise<std_msgs::Float64>("/mikrokopter/yaw", 100);
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  thrust_pub = nh.advertise<std_msgs::Float64>("/mikrokopter/thrust", 100);
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  altitude_enable_pub = nh.advertise<std_msgs::Bool>("/altitude_node/enable",
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      100);
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}
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void JoystickNode::joy_cb(const sensor_msgs::Joy::ConstPtr& joy)
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{
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  mikrokopter::Velocity2D vel;
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  vel.forward = joy->axes[1];
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  vel.lateral = -joy->axes[0];
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  velocity_pub.publish(vel);
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  std_msgs::Float64 yaw;
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  yaw.data = -joy->axes[2];
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  yaw_pub.publish(yaw);
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  bool alt_en_down = joy->buttons[0];
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  if (alt_en_down && !alt_en_pressed) // toggle altitude control
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  {
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    altitude_enabled = !altitude_enabled;
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    std_msgs::Bool enable;
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    enable.data = altitude_enabled;
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    altitude_enable_pub.publish(enable);
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  }
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  alt_en_pressed = alt_en_down;
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  if (!altitude_enabled)
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  {
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    std_msgs::Float64 thrust;
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    thrust.data = (joy->axes[3]+1)/2;
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    thrust_pub.publish(thrust);
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  }
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}
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int main(int argc, char **argv) {
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  ros::init(argc, argv, "joystick_node");
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  JoystickNode jn = JoystickNode();
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  jn.main_loop();
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  return 0;
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}

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