Revision da889457
ID | da889457e79e3e7e2d37b071dffdef00b81595f3 |
Created nav_lib.cpp/h, with functions forward, backward, left, right,
and stop to set the mikrokopter's movement direction.
Replaced code in wasd_nav.cpp's main with forward(pub) and stop(pub)
from nav_lib.cpp.
Added nav_lib.cpp to CMakeLists.txt
mikrokopter/CMakeLists.txt | ||
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26 | 26 |
target_link_libraries(${PROJECT_NAME} serial) |
27 | 27 |
|
28 | 28 |
rosbuild_add_executable(externctrl_client src/externctrl_client.cpp) |
29 |
rosbuild_add_executable(wasd_nav src/wasd_nav.cpp) |
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29 |
rosbuild_add_executable(wasd_nav src/wasd_nav.cpp src/nav_lib.cpp) |
mikrokopter/src/nav_lib.cpp | ||
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1 |
#include "nav_lib.h" |
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2 |
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3 |
void set_roll_pitch(ros::Publisher& pub, int roll, int pitch) { |
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4 |
mikrokopter::Control req; |
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5 |
req.digital[0] = 0; |
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6 |
req.digital[1] = 0; |
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7 |
req.remoteKey = 0; |
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8 |
req.pitch = roll; |
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9 |
req.roll = pitch; |
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10 |
req.yaw = 0; |
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11 |
req.thrust = 40; |
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12 |
req.height = 0; |
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13 |
req.free = 0; |
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14 |
req.frame = 7; |
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15 |
req.config = 1; |
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pub.publish(req); |
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ros::spinOnce(); |
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} |
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19 |
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20 |
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void forward(ros::Publisher& pub) |
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{ |
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set_roll_pitch(pub, -15, -15); |
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} |
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25 |
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26 |
void backward(ros::Publisher& pub) |
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{ |
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set_roll_pitch(pub, 15, 15); |
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} |
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30 |
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void left(ros::Publisher& pub) |
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{ |
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set_roll_pitch(pub, -15, 15); |
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} |
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35 |
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void right(ros::Publisher& pub) |
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{ |
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set_roll_pitch(pub, 15, -15); |
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} |
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40 |
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void stop(ros::Publisher& pub) |
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{ |
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set_roll_pitch(pub, 0, 0); |
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} |
mikrokopter/src/nav_lib.h | ||
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1 |
#include "ros/ros.h" |
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2 |
#include "mikrokopter/Control.h" |
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3 |
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void forward(ros::Publisher& pub); |
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void backward(ros::Publisher& pub); |
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6 |
void left(ros::Publisher& pub); |
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7 |
void right(ros::Publisher& pub); |
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8 |
void stop(ros::Publisher& pub); |
mikrokopter/src/wasd_nav.cpp | ||
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1 | 1 |
#include "ros/ros.h" |
2 | 2 |
#include "mikrokopter/Control.h" |
3 |
#include "nav_lib.h" |
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3 | 4 |
#include <cstdlib> |
4 | 5 |
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5 | 6 |
|
... | ... | |
9 | 10 |
|
10 | 11 |
ros::NodeHandle n; |
11 | 12 |
ros::Publisher pub = n.advertise<mikrokopter::Control>("/mikrokopter/req_set_control", 100); |
12 |
mikrokopter::Control req; |
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req.digital[0] = 0; |
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req.digital[1] = 0; |
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req.remoteKey = 0; |
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req.pitch = 0; |
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req.roll = 0; |
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req.yaw = 0; |
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req.thrust = 40; |
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req.height = 0; |
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req.free = 0; |
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req.frame = 7; |
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req.config = 1; |
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24 | 13 |
|
25 | 14 |
ros::Rate loop_rate(25); |
26 | 15 |
|
27 | 16 |
printf("moving\n"); |
28 |
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req.roll = -15; |
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req.pitch = -15; /* nick is pitch */ |
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pub.publish(req); |
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ros::spinOnce(); |
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forward(pub); |
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33 | 18 |
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34 | 19 |
sleep(5); |
35 | 20 |
printf("evening out\n"); |
36 |
req.roll = 0; |
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req.pitch = 0; |
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pub.publish(req); |
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ros::spinOnce(); |
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40 |
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} |
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void forward() |
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{ |
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stop(pub); |
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return 0; |
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46 | 24 |
} |
47 |
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