Mirrors_Framework/PX4-Autopilot
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update attitude and position setpoint topics

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This commit is contained in:
Andreas Antener
2015-04-07 00:13:12 +02:00
parent f8c8876642
commit 9924f5519f
5 changed files with 12 additions and 11 deletions
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8
integrationtests/demo_tests/mavros_offboard_attctl_test.py
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@@ -67,8 +67,8 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback) rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
self.pub_att = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10) self.pub_att = rospy.Publisher('iris/mavros/setpoint_attitude/attitude', PoseStamped, queue_size=10)
self.pub_thr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10) self.pub_thr = rospy.Publisher('iris/mavros/setpoint_attitude/att_throttle', Float64, queue_size=10)
self.rate = rospy.Rate(10) # 10hz self.rate = rospy.Rate(10) # 10hz
self.has_pos = False self.has_pos = False
self.control_mode = vehicle_control_mode() self.control_mode = vehicle_control_mode()
@@ -110,9 +110,9 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
att.header.stamp = rospy.Time.now() att.header.stamp = rospy.Time.now()
self.pub_att.publish(att) self.pub_att.publish(att)
self.helper.bag_write('mavros/setpoint/attitude', att) self.helper.bag_write('mavros/setpoint_attitude/attitude', att)
self.pub_thr.publish(throttle) self.pub_thr.publish(throttle)
self.helper.bag_write('mavros/setpoint/att_throttle', throttle) self.helper.bag_write('mavros/setpoint_attitude/att_throttle', throttle)
self.rate.sleep() self.rate.sleep()
if (self.local_position.pose.position.x > 5 if (self.local_position.pose.position.x > 5

4
integrationtests/demo_tests/mavros_offboard_posctl_test.py
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@@ -69,7 +69,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback) rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
self.pub_spt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10) self.pub_spt = rospy.Publisher('iris/mavros/setpoint_position/local', PoseStamped, queue_size=10)
self.rate = rospy.Rate(10) # 10hz self.rate = rospy.Rate(10) # 10hz
self.has_pos = False self.has_pos = False
self.local_position = PoseStamped() self.local_position = PoseStamped()
@@ -128,7 +128,7 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
# update timestamp for each published SP # update timestamp for each published SP
pos.header.stamp = rospy.Time.now() pos.header.stamp = rospy.Time.now()
self.pub_spt.publish(pos) self.pub_spt.publish(pos)
self.helper.bag_write('mavros/setpoint/local_position', pos) self.helper.bag_write('mavros/setpoint_position/local', pos)
if self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5): if self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 0.5):
break break

5
launch/mavros_sitl.launch
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@@ -9,10 +9,11 @@
<arg name="tgt_system" default="1" /> <arg name="tgt_system" default="1" />
<arg name="tgt_component" default="50" /> <arg name="tgt_component" default="50" />
<param name="mavros/setpoint/attitude/listen_twist" type="bool" value="false" /> <!-- TODO: fix for mavros 0.11.1 because of this: https://github.com/mavlink/mavros/commit/22c09f27e86876f049552cef75b6ceff047358fb -->
<param name="mavros/setpoint_attitude/attitude/listen_twist" type="bool" value="false" />
<include file="$(find mavros)/launch/node.launch"> <include file="$(find mavros)/launch/node.launch">
<arg name="blacklist_yaml" value="$(find mavros)/launch/px4_blacklist.yaml" /> <arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml" />
<arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" /> <arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml" />
<arg name="fcu_url" value="$(arg fcu_url)" /> <arg name="fcu_url" value="$(arg fcu_url)" />

4
src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp
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@@ -49,8 +49,8 @@
DemoOffboardAttitudeSetpoints::DemoOffboardAttitudeSetpoints() : DemoOffboardAttitudeSetpoints::DemoOffboardAttitudeSetpoints() :
_n(), _n(),
_attitude_sp_pub(_n.advertise<geometry_msgs::PoseStamped>("mavros/setpoint/attitude", 1)), _attitude_sp_pub(_n.advertise<geometry_msgs::PoseStamped>("mavros/setpoint_attitude/attitude", 1)),
_thrust_sp_pub(_n.advertise<std_msgs::Float64>("mavros/setpoint/att_throttle", 1)) _thrust_sp_pub(_n.advertise<std_msgs::Float64>("mavros/setpoint_attitude/att_throttle", 1))
{ {
} }

2
src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp
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@@ -46,7 +46,7 @@
DemoOffboardPositionSetpoints::DemoOffboardPositionSetpoints() : DemoOffboardPositionSetpoints::DemoOffboardPositionSetpoints() :
_n(), _n(),
_local_position_sp_pub(_n.advertise<geometry_msgs::PoseStamped>("mavros/setpoint/local_position", 1)) _local_position_sp_pub(_n.advertise<geometry_msgs::PoseStamped>("mavros/setpoint_position/local", 1))
{ {
} }