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ros offboard attitude sp demo: move attitude

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This commit is contained in:
Thomas Gubler
2015-02-21 11:54:31 +01:00
parent 4bf3107faf
commit e5d54a487f
3 changed files with 8 additions and 4 deletions
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1
CMakeLists.txt
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@@ -19,6 +19,7 @@ find_package(catkin REQUIRED COMPONENTS
sensor_msgs sensor_msgs
mav_msgs mav_msgs
libmavconn libmavconn
tf
) )
find_package(Eigen REQUIRED) find_package(Eigen REQUIRED)

2
package.xml
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@@ -45,11 +45,13 @@
<build_depend>std_msgs</build_depend> <build_depend>std_msgs</build_depend>
<build_depend>eigen</build_depend> <build_depend>eigen</build_depend>
<build_depend>libmavconn</build_depend> <build_depend>libmavconn</build_depend>
<build_depend>tf</build_depend>
<run_depend>roscpp</run_depend> <run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend> <run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend> <run_depend>std_msgs</run_depend>
<run_depend>eigen</run_depend> <run_depend>eigen</run_depend>
<run_depend>libmavconn</run_depend> <run_depend>libmavconn</run_depend>
<run_depend>tf</run_depend>
<!-- The export tag contains other, unspecified, tags --> <!-- The export tag contains other, unspecified, tags -->

9
src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp
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@@ -45,6 +45,7 @@
#include <geometry_msgs/PoseStamped.h> #include <geometry_msgs/PoseStamped.h>
#include <std_msgs/Float64.h> #include <std_msgs/Float64.h>
#include <math.h> #include <math.h>
#include <tf/transform_datatypes.h>
DemoOffboardAttitudeSetpoints::DemoOffboardAttitudeSetpoints() : DemoOffboardAttitudeSetpoints::DemoOffboardAttitudeSetpoints() :
_n(), _n(),
@@ -64,13 +65,13 @@ int DemoOffboardAttitudeSetpoints::main()
/* Publish example offboard attitude setpoint */ /* Publish example offboard attitude setpoint */
geometry_msgs::PoseStamped pose; geometry_msgs::PoseStamped pose;
pose.pose.position.x = 0; tf::Quaternion q = tf::createQuaternionFromRPY(0.0, 0.1 * (sinf(0.5 * (float)px4::get_time_micros() / 1000000.0f)) , 0.0);
pose.pose.position.y = 0; quaternionTFToMsg(q, pose.pose.orientation);
pose.pose.position.z = 1;
_attitude_sp_pub.publish(pose); _attitude_sp_pub.publish(pose);
std_msgs::Float64 thrust; std_msgs::Float64 thrust;
thrust.data = 0.4f + 0.25 * (sinf(2.0f * (float)px4::get_time_micros() / 1000000.0f)); // just some example throttle input that makes the quad 'jump' thrust.data = 0.4f + 0.25 * (sinf((float)px4::get_time_micros() / 1000000.0f)); // just some example throttle input that makes the quad 'jump'
_thrust_sp_pub.publish(thrust); _thrust_sp_pub.publish(thrust);
} }
return 0; return 0;