diff --git a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
index 782ff3d709f276ee1f4dccbc109f487f75fdab36..e137fc0cb603102f906743ff323b27698b1e8d76 100755
--- a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
@@ -1,9 +1,11 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
-import roslib; roslib.load_manifest('crazypkg')
+import roslib; roslib.load_manifest('d_fall_pps')
import rospy
-from crazypkg.msg import ControllerOutputPackage
+from d_fall_pps.msg import AngleCommand
+from d_fall_pps.msg import RateCommand
+from d_fall_pps.msg import MotorCommand
# General import
@@ -91,25 +93,31 @@ class PPSRadioClient:
self._cf.send_packet(pk)
def motorCommandCallback(data):
- """Callback for motor controller actions"""
- cf_client._send_to_commander(0, 0, 0, data.motorCmd1, data.motorCmd2, data.motorCmd3, data.motorCmd4, CONTROLLER_MOTOR)
- rospy.loginfo("motor controller callback: %s, %s, %s, %s", data.motorCmd1, data.motorCmd2, data.motorCmd3, data.motorCmd4)
+ """Callback for motor controller actions"""
+ rospy.loginfo("test motorCommandCallback")
def angleCommandCallback(data):
- """Callback for angle controller actions"""
- cf_client._send_to_commander(data.roll,data.pitch,data.yaw,data.thrust, 0, 0, 0, 0, CONTROLLER_ANGLE)
- rospy.loginfo("angle controller callback: %s, %s, %s", data.roll,data.pitch,data.yaw,data.thrust)
+ """Callback for angle controller actions"""
+ ###cf_client._send_to_commander(data.roll,data.pitch,data.yaw,data.thrust, 0, 0, 0, 0, CONTROLLER_ANGLE)
+ ####rospy.loginfo("angle controller callback: %s, %s, %s", data.roll,data.pitch,data.yaw,data.thrust)
+ rospy.loginfo("test angleCommandCallback")
def rateCommandCallback(data):
- """Callback for rate controller actions"""
- cf_client._send_to_commander(data.roll,data.pitch,data.yaw,data.thrust, 0, 0, 0, 0, CONTROLLER_RATE)
- rospy.loginfo("rate controller callback: %s, %s, %s", data.roll,data.pitch,data.yaw,data.thrust)
+ """Callback for rate controller actions"""
+ ###cf_client._send_to_commander(data.roll,data.pitch,data.yaw,data.thrust, 0, 0, 0, 0, CONTROLLER_RATE)
+ ###rospy.loginfo("rate controller callback: %s, %s, %s", data.roll,data.pitch,data.yaw,data.thrust)
+ rospy.loginfo("test rateCommandCallback")
+
+def testCallback(data):
+ """Callback used to test data receipt if no crazyfly was found"""
+ rospy.loginfo("Crazyradio.py successfully subscribed and received testvalues: %f", data.cmd1)
if __name__ == '__main__':
rospy.init_node('CrazyRadio', anonymous=True)
# Initialize the low-level drivers (don't list the debug drivers)
cflib.crtp.init_drivers(enable_debug_driver=False)
+
while not rospy.is_shutdown():
# Scan for Crazyflies and use the first one found
@@ -126,13 +134,19 @@ if __name__ == '__main__':
cf_client = PPSRadioClient(available[0][0])
time.sleep(3.0)
#TODO: change publisher name if not correct
- rospy.Subscriber("PPSClient/MotorCommands", MotorCommand, motorCommandCallback)
- rospy.Subscriber("PPSClient/AngleCommands", AngleCommand, angleCommandCallback)
- rospy.Subscriber("PPSClient/RateCommands", RateCommand, rateCommandCallback)
+ rospy.Subscriber("PPSClient/topicMotorCommand", MotorCommand, motorCommandCallback)
+ rospy.loginfo("trying to subscribe")
+ #rospy.Subscriber("PPSClient/AngleCommands", AngleCommand, angleCommandCallback)
+ #rospy.Subscriber("PPSClient/RateCommands", RateCommand, rateCommandCallback)
rospy.spin()
else:
- rospy.logerr("No Crazyflies found, cannot run example")
+ #rospy.logerr("No Crazyflies found, cannot run example")
+ #for testing try to subscribe even if no crazyflie was found
+ rospy.loginfo("No Crazyflies found, still trying to subscribe")
+ rospy.Subscriber("PPSClient/topicMotorCommand", MotorCommand, testCallback)
+ rospy.spin()
+
time.sleep(0.5)
diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/__init__.pyc
index c691ab2630d8b6d69d40d6d126cd82676449f86c..f5e936ccbb0fd4da975be38c2a121c3f618e5b17 100644
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/commander.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/commander.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/console.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/console.pyc
index 7dbd2d9d6d6da40aa68d74f41c7059d3ff08e269..7eda3dbedd01ce70ec7b102c900beb60cab58b61 100644
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/log.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/log.pyc
index 40ace216e4a3a559c79ba9354e98c46ae7d1585c..d210b97174cb49fbd0506298c0ccae2dd1f3d8e8 100644
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/mem.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/mem.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/param.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/param.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/toc.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crazyflie/toc.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/crtp/__init__.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/drivers/cfusb.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/drivers/cfusb.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/drivers/crazyradio.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/drivers/crazyradio.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/utils/__init__.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/utils/__init__.pyc
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diff --git a/pps_ws/src/d_fall_pps/crazyradio/cflib/utils/callbacks.pyc b/pps_ws/src/d_fall_pps/crazyradio/cflib/utils/callbacks.pyc
index 7a74eeba740be7823fb8adb7248b5c4ead6e1897..74e35185cd8928cfd392adc026a7e4c35c1703a1 100644
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diff --git a/pps_ws/src/d_fall_pps/launch/ppsLaunch.launch b/pps_ws/src/d_fall_pps/launch/ppsLaunch.launch
index 8075f51207a04ee4124a3aa2a74f4deffeace73e..b2bb001d03945df3854a76447a42b2074d8b5a6d 100644
--- a/pps_ws/src/d_fall_pps/launch/ppsLaunch.launch
+++ b/pps_ws/src/d_fall_pps/launch/ppsLaunch.launch
@@ -1,7 +1,6 @@
<launch>
- <!-- Might be needed when our CrazyRadio works. There is no CrazyRadio.launch file yet!
- <include file="$(find d_fall_pps)/launch/CrazyRadio.launch" />
- -->
+
+ <node pkg="d_fall_pps" name="CrazyRadio" output="screen" type="CrazyRadio.py"/>
<node pkg="d_fall_pps" name="ViconDataPublisher" output="screen" type="ViconDataPublisher">
</node>
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index c95e2149cdf8d9e42bdacd1d410a1fcd01894f94..481eeb7b1a378e5686c5beab74f9cc4a168ca494 100644
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -26,6 +26,9 @@
#include "ros/ros.h"
#include "d_fall_pps/ViconData.h"
#include "d_fall_pps/RateController.h"
+#include "d_fall_pps/AngleCommand.h"
+#include "d_fall_pps/RateCommand.h"
+#include "d_fall_pps/MotorCommand.h"
using namespace d_fall_pps;
@@ -36,6 +39,14 @@ std::string cflie;
//global sevices
ros::ServiceClient rateClient;
+ros::Publisher AngleCommandPublisher;
+ros::Publisher RateCommandPublisher;
+ros::Publisher MotorCommandPublisher;
+
+//uncommenting the next line causes FATAL Error at runtime: "You must call ros::init() before creating the first NodeHandle"
+//ros::NodeHandle nodeHandle;
+
+
//extract data from "data" and publish/add to service for controller
//not void: sould give back controlldata
void ppsClientToController(ViconData data){
@@ -138,7 +149,7 @@ void CControlMgr::SendToCrazyflie(ControllerOutput package)
{
if(m_isStopped)
{
- m_packageToSend.motorCmd1=0;
+ c.motorCmd1=0;
m_packageToSend.motorCmd2=0;
m_packageToSend.motorCmd3=0;
m_packageToSend.motorCmd4=0;
@@ -168,6 +179,48 @@ void CControlMgr::SendToCrazyflie(ControllerOutput package)
*/
//<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+
+
+//callback method to publish d_fall_pps::AngleCommand
+void callbackAngleCommand(const ros::TimerEvent&)
+{
+ d_fall_pps::AngleCommand AngleCommandPkg;
+ AngleCommandPkg.rollAngle = 1;
+ AngleCommandPkg.pitchAngle = 1;
+ AngleCommandPkg.yawAngle = 1;
+
+ AngleCommandPublisher.publish(AngleCommandPkg);
+ ROS_INFO_STREAM("AngleCommandTimer pubslishes: " << AngleCommandPkg.rollAngle << ", " << AngleCommandPkg.pitchAngle << ", " << AngleCommandPkg.yawAngle);
+}
+
+//callback method to publish d_fall_pps::RateCommand
+void callbackRateCommand(const ros::TimerEvent&)
+{
+ d_fall_pps::RateCommand RateCommandPkg;
+ RateCommandPkg.rollRate = 2;
+ RateCommandPkg.pitchRate = 2;
+ RateCommandPkg.yawRate = 2;
+
+ RateCommandPublisher.publish(RateCommandPkg);
+ ROS_INFO_STREAM("RateCommandTimer pubslishes: " << RateCommandPkg.rollRate << ", " << RateCommandPkg.pitchRate << ", " << RateCommandPkg.yawRate);
+}
+
+//callback method to publish d_fall_pps::MotorCommand
+void callbackMotorCommand(const ros::TimerEvent&)
+{
+ d_fall_pps::MotorCommand MotorCommandPkg;
+ MotorCommandPkg.cmd1 = 3;
+ MotorCommandPkg.cmd2 = 3;
+ MotorCommandPkg.cmd3 = 3;
+ MotorCommandPkg.cmd4 = 3;
+
+ MotorCommandPublisher.publish(MotorCommandPkg);
+ ROS_INFO_STREAM("MotorCommandTimer pubslishes: " << MotorCommandPkg.cmd1 << ", " << MotorCommandPkg.cmd2 << ", " << MotorCommandPkg.cmd3 << ", " << MotorCommandPkg.cmd4);
+}
+
+
+
+
int main(int argc, char* argv[]){
ROS_INFO_STREAM("PPSClient started");
@@ -183,26 +236,26 @@ int main(int argc, char* argv[]){
ROS_ERROR("Failed to get CrazyFlieName");
}
- ROS_INFO_STREAM("about to subscribe");
ros::Subscriber ViconSubscriber = nodeHandle.subscribe("/ViconDataPublisher/ViconData", 1, viconCallback);
- ROS_INFO_STREAM("subscribed");
+ ROS_INFO_STREAM("successfully subscribed to ViconData");
+
+ //ros::Timers to call method that publishes controller outputs for crayzradio node
/*
- //publish package_for_crazyradio>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
- //m_pNodeHandle=nodeHandle;
- //m_pCallbackQueueControlMgr=new ros::CallbackQueue();
- //m_pNodeHandle->setCallbackQueue(m_pCallbackQueueControlMgr);
-
-
- ROS_INFO_STREAM("creating publishers for package_for_crazyradio");
- ros::Pubslisher AngleCommandsPublisher = nodeHandle.advertise <d_fall_pps::AngleCommandsPackage>("AngleCommands", 10));
- ros::Pubslisher AngleCommandsPublisher = nodeHandle.advertise <d_fall_pps::RateCommandsPackage>("RateCommands", 10));
- ros::Pubslisher AngleCommandsPublisher = nodeHandle.advertise <d_fall_pps::MotorCommandsPackage>("MotorCommands", 10));
-
- //<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
+ Timers let you schedule a callback to happen at a specific rate through the same callback queue mechanism used by subscription, service, etc. callbacks.
+ Timers are not a realtime thread/kernel replacement, rather they are useful for things that do not have hard realtime requirements.
+ Reference: http://wiki.ros.org/roscpp/Overview/Timers
*/
-
-
+ ROS_INFO("creating publishers for package_for_crazyradio");
+ ros::Timer AngleCommandTimer = nodeHandle.createTimer(ros::Duration(0.1), callbackAngleCommand);
+ ros::Timer RateCommandTimer = nodeHandle.createTimer(ros::Duration(0.1), callbackRateCommand);
+ ros::Timer MotorCommandTimer = nodeHandle.createTimer(ros::Duration(0.1), callbackMotorCommand);
+
+
+ //ros::Publishers to advertise on the three command type topics
+ AngleCommandPublisher = nodeHandle.advertise <d_fall_pps::AngleCommand>("topicAngleCommand", 1000);
+ RateCommandPublisher = nodeHandle.advertise<d_fall_pps::RateCommand>("topicRateCommand", 1000);
+ MotorCommandPublisher = nodeHandle.advertise <d_fall_pps::MotorCommand>("topicMotorCommand", 1000);
//service: now only one available: to add several services depending on controller
@@ -210,9 +263,6 @@ int main(int argc, char* argv[]){
-
-
-
ros::spin();
return 0;
}
diff --git a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
index 122fec3bdc75f7f9f7854fb8dd34b7e0d62309ca..e56560cf26df04ab1172d7886bcb65f50a4ac583 100644
--- a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
@@ -55,7 +55,7 @@ int main(int argc, char* argv[]) {
ros::NodeHandle nodeHandle("~");
ros::ServiceServer service = nodeHandle.advertiseService("RateController", calculateControlOutput);
- ROS_INFO("SafeControllerService ready");
+ ROS_INFO("SafeControllerService ready to send");
ros::spin();
return 0;