Revision a15ffaa4
| ID | a15ffaa43270831d9621d1a25f41ca5622ab8257 |
adding simple app to make the quadrotor fly forwards a bit
| mikrokopter/CMakeLists.txt | ||
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| 26 | 26 |
target_link_libraries(${PROJECT_NAME} serial)
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| 27 | 27 |
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| 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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| mikrokopter/launch/mikrokopter.launch | ||
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| 2 | 2 |
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| 3 | 3 |
<node name="mikrokopter" pkg="mikrokopter" type="mikrokopter"> |
| 4 | 4 |
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<param name="port" value="/dev/ttyUSB0" />
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<param name="port" value="/dev/ttyACM0" />
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| 6 | 6 |
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| 7 | 7 |
<param name="req_version_rate" value="0.0" /> |
| 8 | 8 |
<param name="req_version_addr" value="97" /> |
| mikrokopter/src/wasd_nav.cpp | ||
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| 1 |
#include "ros/ros.h" |
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#include "mikrokopter/Control.h" |
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#include <cstdlib> |
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int main(int argc, char **argv) |
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{
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ros::init(argc, argv, "mikrokopter_externctrl_client"); |
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ros::NodeHandle n; |
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ros::Publisher pub = n.advertise<mikrokopter::Control>("/mikrokopter/req_set_control", 100);
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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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ros::Rate loop_rate(25); |
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printf("moving\n");
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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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sleep(5); |
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printf("evening out\n");
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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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} |
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void forward() |
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{
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} |
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