From 2c6aeca0e463ec82827ddccd1c7631dcf237a179 Mon Sep 17 00:00:00 2001
From: phfriedl <phfriedl@student.ethz.ch>
Date: Thu, 6 Apr 2017 11:40:07 +0200
Subject: [PATCH] small changes to PPSClient
---
.../src/d_fall_pps/launch/studentParams.yaml | 2 +-
.../d_fall_pps/src/CentralManagerService.cpp | 14 ++++++-------
pps_ws/src/d_fall_pps/src/PPSClient.cpp | 21 ++++---------------
3 files changed, 11 insertions(+), 26 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/launch/studentParams.yaml b/pps_ws/src/d_fall_pps/launch/studentParams.yaml
index a8384c2c..9b635ca0 100644
--- a/pps_ws/src/d_fall_pps/launch/studentParams.yaml
+++ b/pps_ws/src/d_fall_pps/launch/studentParams.yaml
@@ -1,6 +1,6 @@
TeamName: 'Two'
CrazyFlieName: "cfTwo"
-CrazyFlieAddress: "radio://0/99/2M"
+CrazyFlieAddress: "radio://0/72/2M"
#controllertypes to add with adjustable
#motor, angle and rate
diff --git a/pps_ws/src/d_fall_pps/src/CentralManagerService.cpp b/pps_ws/src/d_fall_pps/src/CentralManagerService.cpp
index 8a767b68..2cb409de 100644
--- a/pps_ws/src/d_fall_pps/src/CentralManagerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CentralManagerService.cpp
@@ -21,19 +21,17 @@
using namespace d_fall_pps;
-/*TODO:
-request from paul
-Specificy controller in a file
+//receive request from students (containing (maybe among other things) their name)
+//send them back the CrazyflieContext (containing (maybe among other things) the area to fly in)
+bool returnCrazyflieContext(CentralManager::Request &request, CentralManager::Response &response) {
+ ROS_INFO("central manager");
+ return true;
+}
-*/
-bool returnCrazyflieContext(CentralManager::Request &request, CentralManager::Response &response) {
- ROS_INFO("cnetal manager");
- return true;
-}
int main(int argc, char* argv[]) {
ros::init(argc, argv, "CentralManagerService");
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index 7f24b704..4c7224a3 100644
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -51,19 +51,6 @@ ros::Publisher motorCommandPublisher;
//not void: sould give back controlldata
void ppsClientToController(ViconData data){
if(data.crazyflieName == cflie){
- /* unnecessairy: just send data!!!!!
- d_fall_pps::ViconData myDataToPublish;
- myDataToPublish.crazyflieName = data.crazyflieName;
- myDataToPublish.x = data.x;
- myDataToPublish.y = data.y;
- myDataToPublish.z = data.z;
- myDataToPublish.roll = data.roll;
- myDataToPublish.pitch = data.pitch;
- myDataToPublish.yaw = data.yaw;
- myDataToPublish.acquiringTime = data.acquiringTime;
- */
-
-
//TODO:
//Some way of choosing the correct controller: Safe or Custom
//using the area data
@@ -106,7 +93,7 @@ void viconCallback(const d_fall_pps::ViconData& data){
//debugging
//++callbackCalls;
//ROS_INFO("Callback called #%d",callbackCalls);
- //ROS_INFO("Recived Pitch in this callback: %f", data.pitch);
+ //ROS_INFO("Received Pitch in this callback: %f", data.pitch);
//ROS_INFO("received data:"); ROS_INFO_STREAM(data);
//ROS_INFO("My teamname is:"); ROS_INFO_STREAM(team);
//ROS_INFO("My crazyflie is:"); ROS_INFO_STREAM(cflie);
@@ -192,9 +179,9 @@ int main(int argc, char* argv[]){
//ros::Publishers to advertise on the three command type topics
- angleCommandPublisher = nodeHandle.advertise <d_fall_pps::AngleCommand>("AngleCommand", 1000);
- rateCommandPublisher = nodeHandle.advertise<d_fall_pps::RateCommand>("RateCommand", 1000);
- motorCommandPublisher = nodeHandle.advertise <d_fall_pps::MotorCommand>("MotorCommand", 1000);
+ angleCommandPublisher = nodeHandle.advertise <d_fall_pps::AngleCommand>("AngleCommand", 1);
+ rateCommandPublisher = nodeHandle.advertise<d_fall_pps::RateCommand>("RateCommand", 1);
+ motorCommandPublisher = nodeHandle.advertise <d_fall_pps::MotorCommand>("MotorCommand", 1);
//service: now only one available: to add several services depending on controller
--
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