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Revision 7bc485ed

ID7bc485ed1e7e508acaedf3dada02bec443ac9856

Added by Thomas Mullins about 12 years ago

Added /altitude_node/enable topic to disable PID

Also, added node_control.cpp and Velocity2D.msg, which should have been
commited before but apparently weren't.

View differences:

mikrokopter/altitude_node/src/altitude_node.cpp
1 1 
#include "ros/ros.h"
2 
#include "std_msgs/Float64.h"
3 2 
#include "mikrokopter/FcDebug.h"
3 
#include "std_msgs/Float64.h"
4 
#include "std_msgs/Bool.h"
4 5 
#include "../../../control/pid_control.h"
5 6 

  		




  6
  7
  
    
class AltitudeNode


  		




  ......




  10
  11
  
    
  void main_loop() {ros::spin();}


  		




  11
  12
  
    
  void height_cb(const mikrokopter::FcDebug::ConstPtr& fc);


  		




  12
  13
  
    
  void goal_cb(const std_msgs::Float64::ConstPtr& goal);


  		




  
  14
  
    
  void enable_cb(const std_msgs::Bool::ConstPtr& goal);


  		




  13
  15
  
    

  		




  14
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private:


  		




  
  17
  
    
  bool enabled;


  		




  15
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  PID_control pid;


  		




  16
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  ros::NodeHandle n;


  		




  17
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  ros::Publisher pub;


  		




  18
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  ros::Subscriber height_sub;


  		




  19
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  ros::Subscriber goal_sub;


  		




  
  23
  
    
  ros::Subscriber enable_sub;


  		




  20
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};


  		




  21
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  22
  
  
    
AltitudeNode::AltitudeNode() : pid(10, 0, 0, 0)


  		




  
  26
  
    
AltitudeNode::AltitudeNode() : pid(10, 0, 0, 0), enabled(false)


  		




  23
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{


  		




  24
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  height_sub = n.subscribe<mikrokopter::FcDebug>("/mikrokopter/fc_debug",


  		




  25
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      100, &AltitudeNode::height_cb, this);


  		




  26
  30
  
    
  goal_sub = n.subscribe<std_msgs::Float64>("/mikrokopter/height_goal",


  		




  27
  31
  
    
      100, &AltitudeNode::goal_cb, this);


  		




  
  32
  
    
  enable_sub = n.subscribe<std_msgs::Bool>("/altitude_node/enable",


  		




  
  33
  
    
      100, &AltitudeNode::enable_cb, this);


  		




  28
  34
  
    
  pub = n.advertise<std_msgs::Float64>("/mikrokopter/thrust", 100);


  		




  29
  35
  
    
}


  		




  30
  36
  
    

  		




  31
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void AltitudeNode::height_cb(const mikrokopter::FcDebug::ConstPtr& fc)


  		




  32
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{


  		




  33
  
  
    
  std_msgs::Float64 msg;


  		




  34
  
  
    
  msg.data = pid.pid(fc->heightValue, fc->header.stamp.toNSec());


  		




  35
  
  
    
  pub.publish(msg);


  		




  
  39
  
    
  if (enabled)


  		




  
  40
  
    
  {


  		




  
  41
  
    
    std_msgs::Float64 msg;


  		




  
  42
  
    
    msg.data = pid.pid(fc->heightValue, fc->header.stamp.toNSec());


  		




  
  43
  
    
    pub.publish(msg);


  		




  
  44
  
    
  }


  		




  36
  45
  
    
}


  		




  37
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  38
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void AltitudeNode::goal_cb(const std_msgs::Float64::ConstPtr& goal)


  		




  ......




  40
  49
  
    
  pid.change_goal(goal->data);


  		




  41
  50
  
    
}


  		




  42
  51
  
    

  		




  
  52
  
    
void AltitudeNode::enable_cb(const std_msgs::Bool::ConstPtr& msg)


  		




  
  53
  
    
{


  		




  
  54
  
    
  enabled = msg->data;


  		




  
  55
  
    
}


  		




  
  56
  
    

  		




  43
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int main(int argc, char **argv) {


  		




  44
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  ros::init(argc, argv, "altitude_node");


  		




  45
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  AltitudeNode an = AltitudeNode();


  		












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