Revision 807b0a81
ID | 807b0a818b6bb6c36e3592074181eb95f17e4ac7 |
Added joystick_node for the new node_control system
It can also enable/disable altitude_node's thrust messages, and publish
its own instead.
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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