root / mikrokopter / src / turn_to_target.cpp @ 06a5548b
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#include "nav_lib.h" |
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#include <geometry_msgs/Point.h> |
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#include <math.h> |
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class TurnToTarget |
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{ |
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public:
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TurnToTarget(); |
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void mainLoop();
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void pointCallback(const geometry_msgs::Point::ConstPtr& p); |
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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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TurnToTarget::TurnToTarget() |
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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<geometry_msgs::Point>("/v2v3_converter/target_3d", 100, |
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&TurnToTarget::pointCallback, this);
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} |
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void TurnToTarget::mainLoop()
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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(); |
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control.publish_on(pub); |
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loop_rate.sleep(); |
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} |
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} |
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void TurnToTarget::pointCallback(const geometry_msgs::Point::ConstPtr& p) |
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{ |
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// angle going CCW from forward in horizontal plane
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float angle = atan2(-p->x, p->z); // TODO not sure if these axes are correct |
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// should be from [-100, 100]
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control.set_yaw(angle*100/M_PI);
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} |
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int main(int argc, char **argv) { |
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ros::init(argc, argv, "turn_to_target");
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TurnToTarget ttt = TurnToTarget(); |
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ttt.mainLoop(); |
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return 0; |
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} |