Revision da889457
| ID | da889457e79e3e7e2d37b071dffdef00b81595f3 |
Created nav_lib.cpp/h, with functions forward, backward, left, right,
and stop to set the mikrokopter's movement direction.
Replaced code in wasd_nav.cpp's main with forward(pub) and stop(pub)
from nav_lib.cpp.
Added nav_lib.cpp to CMakeLists.txt
| mikrokopter/src/wasd_nav.cpp | ||
|---|---|---|
| 1 | 1 |
#include "ros/ros.h" |
| 2 | 2 |
#include "mikrokopter/Control.h" |
| 3 |
#include "nav_lib.h" |
|
| 3 | 4 |
#include <cstdlib> |
| 4 | 5 |
|
| 5 | 6 |
|
| ... | ... | |
| 9 | 10 |
|
| 10 | 11 |
ros::NodeHandle n; |
| 11 | 12 |
ros::Publisher pub = n.advertise<mikrokopter::Control>("/mikrokopter/req_set_control", 100);
|
| 12 |
mikrokopter::Control req; |
|
| 13 |
req.digital[0] = 0; |
|
| 14 |
req.digital[1] = 0; |
|
| 15 |
req.remoteKey = 0; |
|
| 16 |
req.pitch = 0; |
|
| 17 |
req.roll = 0; |
|
| 18 |
req.yaw = 0; |
|
| 19 |
req.thrust = 40; |
|
| 20 |
req.height = 0; |
|
| 21 |
req.free = 0; |
|
| 22 |
req.frame = 7; |
|
| 23 |
req.config = 1; |
|
| 24 | 13 |
|
| 25 | 14 |
ros::Rate loop_rate(25); |
| 26 | 15 |
|
| 27 | 16 |
printf("moving\n");
|
| 28 |
|
|
| 29 |
req.roll = -15; |
|
| 30 |
req.pitch = -15; /* nick is pitch */ |
|
| 31 |
pub.publish(req); |
|
| 32 |
ros::spinOnce(); |
|
| 17 |
forward(pub); |
|
| 33 | 18 |
|
| 34 | 19 |
sleep(5); |
| 35 | 20 |
printf("evening out\n");
|
| 36 |
req.roll = 0; |
|
| 37 |
req.pitch = 0; |
|
| 38 |
pub.publish(req); |
|
| 39 |
ros::spinOnce(); |
|
| 40 |
|
|
| 41 |
} |
|
| 42 |
void forward() |
|
| 43 |
{
|
|
| 44 |
|
|
| 45 |
|
|
| 21 |
stop(pub); |
|
| 22 |
|
|
| 23 |
return 0; |
|
| 46 | 24 |
} |
| 47 |
|
|
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