Quadrotor

 /*!

  *  \file    externctrl_client.cpp

  *  \brief   A demonstration of the MikrokopterInterface class

  *  \author  Andrew Chambers <achamber@andrew.cmu.edu>

  *  \author  Justin Haines   <jhaines@andrew.cmu.edu>

  *  \author  Sebastian Scherer <basti@andrew.cmu.edu>

  *  \date    2011 October 25

  *  \details This program sends commands to a Mikrokopter rotorcraft via ROS

  */

#include "ros/ros.h"

#include "mikrokopter/Control.h"

#include <cstdlib>

int main(int argc, char **argv)

{

  ros::init(argc, argv, "mikrokopter_externctrl_client");

  ros::NodeHandle n;

  ros::Publisher pub = n.advertise<mikrokopter::Control>("/mikrokopter/req_set_control", 100);

  mikrokopter::Control req;

  req.digital[0] = 0;

  req.digital[1] = 0;

  req.remoteKey = 0;

  req.pitch = 0;

  req.roll = 0;

  req.yaw = 0;

  req.thrust = 40;

  req.height = 0;

  req.free = 0;

  req.frame = 7;

  req.config = 1;

  ros::Rate loop_rate(25);

  int maxPt = 30;

  int minPt = -30;

  int step = 2;

  int val = 30;

  while (ros::ok())

  {

    if (val >= maxPt)

      step = -1*step;

    if (val <= minPt)

      step = -1*step;

    val += step;

    std::cout << val << std::endl;

    req.frame++;

    req.roll = val;

    pub.publish(req);

    ros::spinOnce();

    loop_rate.sleep();

  }

  return 0;

}