From 530c1f724283b879e5ce291e58690d057c9d3243 Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Sat, 9 Feb 2019 18:15:59 +0100
Subject: [PATCH] Convert all occurances of PPS Client to Flying Agenet Client.
And adjusted all other occurances of PPS accordingly
---
dfall_ws/src/dfall_pkg/CMakeLists.txt | 6 +-
.../GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp | 19 +-
.../flyingAgentGUI/forms/coordinatorrow.ui | 2 +-
.../include/Constants_for_Qt_compile.h | 22 ++-
.../flyingAgentGUI/include/coordinatorrow.h | 4 +-
.../include/enablecontrollerloadyamlbar.h | 2 +-
.../src/connectstartstopbar.cpp | 10 +-
.../flyingAgentGUI/src/controllertabs.cpp | 4 +-
.../GUI_Qt/flyingAgentGUI/src/coordinator.cpp | 4 +-
.../flyingAgentGUI/src/coordinatorrow.cpp | 10 +-
.../src/enablecontrollerloadyamlbar.cpp | 2 +-
.../GUI_Qt/studentGUI/include/MainWindow.h | 4 +-
.../GUI_Qt/studentGUI/src/MainWindow.cpp | 40 ++--
dfall_ws/src/dfall_pkg/PPS.perspective | 2 +-
.../src/dfall_pkg/crazyradio/CrazyRadio.py | 51 +++--
dfall_ws/src/dfall_pkg/crazyradio/TestCF.py | 28 +--
.../{PPSClient.h => FlyingAgentClient.h} | 0
dfall_ws/src/dfall_pkg/launch/Agent.launch | 6 +-
dfall_ws/src/dfall_pkg/scripts/land_crazyflie | 2 +-
.../dfall_pkg/scripts/load_custom_controller | 2 +-
.../dfall_pkg/scripts/load_safe_controller | 2 +-
.../dfall_pkg/scripts/motors_off_crazyflie | 2 +-
.../src/dfall_pkg/scripts/take_off_crazyflie | 2 +-
.../dfall_pkg/src/nodes/BatteryMonitor.cpp | 43 ++++-
.../src/nodes/DefaultControllerService.cpp | 16 +-
.../src/nodes/DemoControllerService.cpp | 22 +--
.../{PPSClient.cpp => FlyingAgentClient.cpp} | 180 +++++++++---------
.../src/nodes/MpcControllerService.cpp | 40 ++--
.../src/nodes/PickerControllerService.cpp | 28 +--
.../src/nodes/RemoteControllerService.cpp | 44 ++---
.../src/nodes/SafeControllerService.cpp | 2 +-
.../src/nodes/StudentControllerService.cpp | 12 +-
.../src/nodes/TuningControllerService.cpp | 20 +-
33 files changed, 338 insertions(+), 295 deletions(-)
rename dfall_ws/src/dfall_pkg/include/nodes/{PPSClient.h => FlyingAgentClient.h} (100%)
rename dfall_ws/src/dfall_pkg/src/nodes/{PPSClient.cpp => FlyingAgentClient.cpp} (84%)
diff --git a/dfall_ws/src/dfall_pkg/CMakeLists.txt b/dfall_ws/src/dfall_pkg/CMakeLists.txt
index 3fb5b938..ee4cb694 100755
--- a/dfall_ws/src/dfall_pkg/CMakeLists.txt
+++ b/dfall_ws/src/dfall_pkg/CMakeLists.txt
@@ -327,7 +327,7 @@ if(VICON_LIBRARY)
add_executable(ViconDataPublisher src/nodes/ViconDataPublisher.cpp)
endif()
-add_executable(PPSClient src/nodes/PPSClient.cpp
+add_executable(FlyingAgentClient src/nodes/FlyingAgentClient.cpp
src/classes/GetParamtersAndNamespaces.cpp)
add_executable(BatteryMonitor src/nodes/BatteryMonitor.cpp
src/classes/GetParamtersAndNamespaces.cpp)
@@ -420,7 +420,7 @@ if(VICON_LIBRARY)
add_dependencies(ViconDataPublisher dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
endif()
-add_dependencies(PPSClient dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(FlyingAgentClient dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(BatteryMonitor dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(DefaultControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(SafeControllerService dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
@@ -472,7 +472,7 @@ if(VICON_LIBRARY)
target_link_libraries(ViconDataPublisher ${VICON_LIBRARY})
endif()
-target_link_libraries(PPSClient ${catkin_LIBRARIES})
+target_link_libraries(FlyingAgentClient ${catkin_LIBRARIES})
target_link_libraries(BatteryMonitor ${catkin_LIBRARIES})
target_link_libraries(DefaultControllerService ${catkin_LIBRARIES})
target_link_libraries(SafeControllerService ${catkin_LIBRARIES})
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
index 49dac78b..f1119906 100755
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
@@ -742,17 +742,17 @@ void MainGUIWindow::on_refresh_student_ids_button_clicked()
#ifdef CATKIN_MAKE
ui->list_discovered_student_ids->clear();
- // \/(\d)\/PPSClient
+ // \/(\d)\/FlyingAgentClient
ros::V_string v_str;
ros::master::getNodes(v_str);
for(int i = 0; i < v_str.size(); i++)
{
std::string s = v_str[i];
std::smatch m;
- //std::regex e ("\\/(\\d)\\/PPSClient");
- std::regex e ("\\/agent(\\d\\d\\d)\\/PPSClient");
+ //std::regex e ("\\/(\\d)\\/FlyingAgentClient");
+ std::regex e ("\\/agent(\\d\\d\\d)\\/FlyingAgentClient");
- // std::regex e("\\/PPSClien(.)");
+ // std::regex e("\\/FlyingAgentClient(.)");
// while(std::regex_search(s, m, e))
// {
@@ -1314,7 +1314,6 @@ void MainGUIWindow::customSendYamlAsMessageTimerCallback(const ros::TimerEvent&)
// load parameters from corresponding YAML file
//
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
float MainGUIWindow::getParameterFloat(ros::NodeHandle& nodeHandle, std::string name)
{
float val;
@@ -1324,7 +1323,7 @@ float MainGUIWindow::getParameterFloat(ros::NodeHandle& nodeHandle, std::string
}
return val;
}
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+
void MainGUIWindow::getParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std::vector<float>& val, int length)
{
if(!nodeHandle.getParam(name, val)){
@@ -1334,7 +1333,7 @@ void MainGUIWindow::getParameterFloatVector(ros::NodeHandle& nodeHandle, std::st
ROS_ERROR_STREAM("parameter '" << name << "' has wrong array length, " << length << " needed");
}
}
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+
int MainGUIWindow::getParameterInt(ros::NodeHandle& nodeHandle, std::string name)
{
int val;
@@ -1344,7 +1343,7 @@ int MainGUIWindow::getParameterInt(ros::NodeHandle& nodeHandle, std::string name
}
return val;
}
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+
void MainGUIWindow::getParameterIntVectorWithKnownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val, int length)
{
if(!nodeHandle.getParam(name, val)){
@@ -1354,7 +1353,7 @@ void MainGUIWindow::getParameterIntVectorWithKnownLength(ros::NodeHandle& nodeHa
ROS_ERROR_STREAM("parameter '" << name << "' has wrong array length, " << length << " needed");
}
}
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+
int MainGUIWindow::getParameterIntVectorWithUnknownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val)
{
if(!nodeHandle.getParam(name, val)){
@@ -1362,7 +1361,7 @@ int MainGUIWindow::getParameterIntVectorWithUnknownLength(ros::NodeHandle& nodeH
}
return val.size();
}
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+
bool MainGUIWindow::getParameterBool(ros::NodeHandle& nodeHandle, std::string name)
{
bool val;
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/coordinatorrow.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/coordinatorrow.ui
index ffb245eb..cba391ca 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/coordinatorrow.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/coordinatorrow.ui
@@ -81,7 +81,7 @@
<string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
</property>
<property name="text">
- <string>IDYYY , PPS_CFXX</string>
+ <string>IDYYY , CFXX</string>
</property>
<property name="checkable">
<bool>true</bool>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/Constants_for_Qt_compile.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/Constants_for_Qt_compile.h
index d96707d4..b361da05 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/Constants_for_Qt_compile.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/Constants_for_Qt_compile.h
@@ -81,7 +81,27 @@
-// Types PPS firmware
+// These constants define the modes that can be used for controller this is
+// running on-board the Crazyflie 2.0.
+// Therefore, the constants defined here need to be in agreement with those
+// defined in the firmware running on-board the Crazyflie 2.0.
+// The following is a short description about each mode:
+//
+// CF_COMMAND_TYPE_MOTORS
+// In this mode the Crazyflie will apply the requested 16-bit per motor
+// command directly to each of the motors
+//
+// CF_COMMAND_TYPE_RATE
+// In this mode the Crazyflie will apply the requested 16-bit per motor
+// command directly to each of the motors, and additionally request the
+// body frame roll, pitch, and yaw angular rates from the PID rate
+// controllers implemented in the Crazyflie 2.0 firmware.
+//
+// CF_COMMAND_TYPE_ANGLE
+// In this mode the Crazyflie will apply the requested 16-bit per motor
+// command directly to each of the motors, and additionally request the
+// body frame roll, pitch, and yaw angles from the PID attitude
+// controllers implemented in the Crazyflie 2.0 firmware.
#define CF_COMMAND_TYPE_MOTORS 6
#define CF_COMMAND_TYPE_RATE 7
#define CF_COMMAND_TYPE_ANGLE 8
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h
index 6a0734db..efce79c5 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h
@@ -157,11 +157,11 @@ private:
void loadCrazyflieContext();
// > For requesting the current flying state
- // i.e., using the service advertised by the PPS client
+ // i.e., using the service advertised by the Flying Agent Client
void getCurrentFlyingState();
// > For requesting the current state of the Crazy Radio
- // i.e., using the service advertised by the PPS client
+ // i.e., using the service advertised by the Flying Agent Client
void getCurrentCrazyRadioState();
// > For updating the text in the UI element of
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
index 6095810a..c8a54e33 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
@@ -38,7 +38,7 @@
// COMMANDS FOR THE FLYING STATE/CONTROLLER USED
// The constants that "command" changes in the
// operation state of this agent. These "commands"
-// are sent from this GUI node to the "PPSClient"
+// are sent from this GUI node to the "FlyingAgentClient"
// node where the command is enacted
// #define CMD_USE_SAFE_CONTROLLER 1
// #define CMD_USE_DEMO_CONTROLLER 2
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
index 36498a1f..b15b8e0b 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
@@ -106,10 +106,10 @@ ConnectStartStopBar::ConnectStartStopBar(QWidget *parent) :
// SUBSCRIBERS AND PUBLISHERS:
// > For Crazyradio commands based on button clicks
- crazyRadioCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("PPSClient/crazyRadioCommand", 1);
+ crazyRadioCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("FlyingAgentClient/crazyRadioCommand", 1);
// > For Flying state commands based on button clicks
- flyingStateCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("PPSClient/Command", 1);
+ flyingStateCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("FlyingAgentClient/Command", 1);
if (m_type == TYPE_AGENT)
{
@@ -126,7 +126,7 @@ ConnectStartStopBar::ConnectStartStopBar(QWidget *parent) :
batteryLevelSubscriber = base_nodeHandle.subscribe("BatteryMonitor/Level", 1, &ConnectStartStopBar::batteryLevelCallback, this);
// > For updating the "flying_state_label" picture
- flyingStateSubscriber = base_nodeHandle.subscribe("PPSClient/flyingState", 1, &ConnectStartStopBar::flyingStateChangedCallback, this);
+ flyingStateSubscriber = base_nodeHandle.subscribe("FlyingAgentClient/flyingState", 1, &ConnectStartStopBar::flyingStateChangedCallback, this);
}
#endif
@@ -614,7 +614,7 @@ void ConnectStartStopBar::setAgentIDsToCoordinate(QVector<int> agentIDs , bool s
ros::NodeHandle agent_base_nodeHandle(agent_base_namespace.toStdString());
// > Request the current flying state
- ros::ServiceClient getCurrentFlyingStateService = agent_base_nodeHandle.serviceClient<dfall_pkg::IntIntService>("PPSClient/getCurrentFlyingState", false);
+ ros::ServiceClient getCurrentFlyingStateService = agent_base_nodeHandle.serviceClient<dfall_pkg::IntIntService>("FlyingAgentClient/getCurrentFlyingState", false);
dfall_pkg::IntIntService getFlyingStateCall;
getFlyingStateCall.request.data = 0;
getCurrentFlyingStateService.waitForExistence(ros::Duration(2.0));
@@ -654,7 +654,7 @@ void ConnectStartStopBar::setAgentIDsToCoordinate(QVector<int> agentIDs , bool s
batteryLevelSubscriber = agent_base_nodeHandle.subscribe("BatteryMonitor/Level", 1, &ConnectStartStopBar::batteryLevelCallback, this);
// > For updating the "flying_state_label" picture
- flyingStateSubscriber = agent_base_nodeHandle.subscribe("PPSClient/flyingState", 1, &ConnectStartStopBar::flyingStateChangedCallback, this);
+ flyingStateSubscriber = agent_base_nodeHandle.subscribe("FlyingAgentClient/flyingState", 1, &ConnectStartStopBar::flyingStateChangedCallback, this);
}
else
{
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
index ecbb608e..38f9d5d9 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
@@ -128,7 +128,7 @@ ControllerTabs::ControllerTabs(QWidget *parent) :
// Only if this is an agent GUI
if (m_type == TYPE_AGENT)
{
- controllerUsedSubscriber = nodeHandle_for_this_gui.subscribe("PPSClient/controllerUsed", 1, &ControllerTabs::controllerUsedChangedCallback, this);
+ controllerUsedSubscriber = nodeHandle_for_this_gui.subscribe("FlyingAgentClient/controllerUsed", 1, &ControllerTabs::controllerUsedChangedCallback, this);
}
@@ -457,7 +457,7 @@ void ControllerTabs::setAgentIDsToCoordinate(QVector<int> agentIDs , bool should
// SUBSCRIBERS
// > For receiving message that the setpoint was changed
- controllerUsedSubscriber = agent_base_nodeHandle.subscribe("PPSClient/controllerUsed", 1, &ControllerTabs::controllerUsedChangedCallback, this);
+ controllerUsedSubscriber = agent_base_nodeHandle.subscribe("FlyingAgentClient/controllerUsed", 1, &ControllerTabs::controllerUsedChangedCallback, this);
}
else
{
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/coordinator.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/coordinator.cpp
index 64bece6d..af56b464 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/coordinator.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/coordinator.cpp
@@ -26,7 +26,7 @@ void Coordinator::on_refresh_button_clicked()
#ifdef CATKIN_MAKE
// USE A REGULAR EXPRESSION TO IDENTIFY NODES THAT EXIST
- // > The regular expression we use is: \/agent(\d\d\d)\/PPSClient
+ // > The regular expression we use is: \/agent(\d\d\d)\/FlyingAgentClient
// with the different that the escaped character is \\ instead of \ only
// GET A "V_string" OF ALL THE NODES CURRENTLY IN EXISTENCE
@@ -39,7 +39,7 @@ void Coordinator::on_refresh_button_clicked()
// TEST THE NAME OF THIS NODE AGAINST THE REGULAR EXPRESSION
std::string s = v_str[i];
std::smatch m;
- std::regex e ("\\/agent(\\d\\d\\d)\\/PPSClient");
+ std::regex e ("\\/agent(\\d\\d\\d)\\/FlyingAgentClient");
if(std::regex_search(s, m, e))
{
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp
index 8a1af80b..a31d6804 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp
@@ -107,7 +107,7 @@ CoordinatorRow::CoordinatorRow(QWidget *parent, int agentID) :
// SUBSCRIBERS AND PUBLISHERS:
// > For Crazyradio commands based on button clicks
- crazyRadioCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("PPSClient/crazyRadioCommand", 1);
+ crazyRadioCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("FlyingAgentClient/crazyRadioCommand", 1);
// > For updating the "rf_status_label" picture
crazyRadioStatusSubscriber = base_nodeHandle.subscribe("CrazyRadio/CrazyRadioStatus", 1, &CoordinatorRow::crazyRadioStatusCallback, this);
@@ -119,20 +119,20 @@ CoordinatorRow::CoordinatorRow(QWidget *parent, int agentID) :
batteryLevelSubscriber = base_nodeHandle.subscribe("BatteryMonitor/Level", 1, &CoordinatorRow::batteryLevelCallback, this);
// > For Flying state commands based on button clicks
- flyingStateCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("PPSClient/Command", 1);
+ flyingStateCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("FlyingAgentClient/Command", 1);
// > For updating the "flying_state_label" picture
- flyingStateSubscriber = base_nodeHandle.subscribe("PPSClient/flyingState", 1, &CoordinatorRow::flyingStateChangedCallback, this);
+ flyingStateSubscriber = base_nodeHandle.subscribe("FlyingAgentClient/flyingState", 1, &CoordinatorRow::flyingStateChangedCallback, this);
// > For changes in the database that defines {agentID,cfID,flying zone} links
databaseChangedSubscriber = dfall_root_nodeHandle.subscribe("CentralManagerService/DBChanged", 1, &CoordinatorRow::databaseChangedCallback, this);;
centralManagerDatabaseService = dfall_root_nodeHandle.serviceClient<dfall_pkg::CMQuery>("CentralManagerService/Query", false);
// > For updating the controller that is currently operating
- controllerUsedSubscriber = base_nodeHandle.subscribe("PPSClient/controllerUsed", 1, &CoordinatorRow::controllerUsedChangedCallback, this);
+ controllerUsedSubscriber = base_nodeHandle.subscribe("FlyingAgentClient/controllerUsed", 1, &CoordinatorRow::controllerUsedChangedCallback, this);
// > For requesting the current flying state,
// this is used only for initialising the icon
- getCurrentFlyingStateService = base_nodeHandle.serviceClient<dfall_pkg::IntIntService>("PPSClient/getCurrentFlyingState", false);
+ getCurrentFlyingStateService = base_nodeHandle.serviceClient<dfall_pkg::IntIntService>("FlyingAgentClient/getCurrentFlyingState", false);
// > For requesting the current state of the Crazy Radio,
// this is used only for initialising the icon
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
index fa8700c5..5b3de64b 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
@@ -30,7 +30,7 @@ EnableControllerLoadYamlBar::EnableControllerLoadYamlBar(QWidget *parent) :
ros::NodeHandle nodeHandle_for_this_gui(this_namespace);
// CREATE THE COMMAND PUBLISHER
- commandPublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::IntWithHeader>("PPSClient/Command", 1);
+ commandPublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::IntWithHeader>("FlyingAgentClient/Command", 1);
// CREATE THE REQUEST LOAD YAML FILE PUBLISHER
// Get the node handle to this parameter service
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/include/MainWindow.h b/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/include/MainWindow.h
index 608102b2..c792c916 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/include/MainWindow.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/include/MainWindow.h
@@ -69,7 +69,7 @@
// The constants that "command" changes in the
// operation state of this agent. These "commands"
-// are sent from this GUI node to the "PPSClient"
+// are sent from this GUI node to the "FlyingAgentClient"
// node where the command is enacted
#define CMD_USE_SAFE_CONTROLLER 1
#define CMD_USE_DEMO_CONTROLLER 2
@@ -288,7 +288,7 @@ private:
ros::Publisher crazyRadioCommandPublisher;
ros::Subscriber crazyRadioStatusSubscriber;
- ros::Publisher PPSClientCommandPublisher;
+ ros::Publisher FlyingAgentClientCommandPublisher;
ros::Subscriber CFBatterySubscriber;
ros::Subscriber flyingStateSubscriber;
ros::Subscriber batteryStateSubscriber;
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/MainWindow.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/MainWindow.cpp
index aed81191..3d74934f 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/MainWindow.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/MainWindow.cpp
@@ -153,11 +153,11 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
CFBatterySubscriber = nodeHandle.subscribe("CrazyRadio/CFBattery", 1, &MainWindow::CFBatteryCallback, this);
- flyingStateSubscriber = nodeHandle.subscribe("PPSClient/flyingState", 1, &MainWindow::flyingStateChangedCallback, this);
+ flyingStateSubscriber = nodeHandle.subscribe("FlyingAgentClient/flyingState", 1, &MainWindow::flyingStateChangedCallback, this);
- batteryStateSubscriber = nodeHandle.subscribe("PPSClient/batteryState", 1, &MainWindow::batteryStateChangedCallback, this);
+ batteryStateSubscriber = nodeHandle.subscribe("FlyingAgentClient/batteryState", 1, &MainWindow::batteryStateChangedCallback, this);
- controllerUsedSubscriber = nodeHandle.subscribe("PPSClient/controllerUsed", 1, &MainWindow::controllerUsedChangedCallback, this);
+ controllerUsedSubscriber = nodeHandle.subscribe("FlyingAgentClient/controllerUsed", 1, &MainWindow::controllerUsedChangedCallback, this);
safeSetpointSubscriber = nodeHandle.subscribe("SafeControllerService/Setpoint", 1, &MainWindow::safeSetpointCallback, this);
@@ -167,18 +167,18 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
controllerSetpointPublisher = my_nodeHandle.advertise<Setpoint>("ControllerSetpoint", 1);
- // communication with PPS Client, just to make it possible to communicate through terminal also we use PPSClient's name
- //ros::NodeHandle nh_PPSClient(m_ros_namespace + "/PPSClient");
- ros::NodeHandle nh_PPSClient("PPSClient");
- crazyRadioCommandPublisher = nh_PPSClient.advertise<std_msgs::Int32>("crazyRadioCommand", 1);
- PPSClientCommandPublisher = nh_PPSClient.advertise<std_msgs::Int32>("Command", 1);
+ // communication with Flying Agent Client, just to make it possible to communicate through terminal also we use FlyingAgentClient's name
+ //ros::NodeHandle nh_FlyingAgentClient(m_ros_namespace + "/FlyingAgentClient");
+ ros::NodeHandle nh_FlyingAgentClient("FlyingAgentClient");
+ crazyRadioCommandPublisher = nh_FlyingAgentClient.advertise<std_msgs::Int32>("crazyRadioCommand", 1);
+ FlyingAgentClientCommandPublisher = nh_FlyingAgentClient.advertise<std_msgs::Int32>("Command", 1);
// > For publishing a message that requests the
// YAML parameters to be re-loaded from file
// > The message contents specify which controller
// the parameters should be re-loaded for
- requestLoadControllerYamlPublisher = nh_PPSClient.advertise<std_msgs::Int32>("requestLoadControllerYaml", 1);
+ requestLoadControllerYamlPublisher = nh_FlyingAgentClient.advertise<std_msgs::Int32>("requestLoadControllerYaml", 1);
// Subscriber for locking the load the controller YAML
@@ -186,7 +186,7 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
requestLoadControllerYaml_from_my_GUI_Subscriber = nodeHandle.subscribe("/my_GUI/requestLoadControllerYaml", 1, &MainWindow::requestLoadControllerYaml_from_my_GUI_Callback, this);
// First get student ID
- if(!nh_PPSClient.getParam("agentID", m_student_id))
+ if(!nh_FlyingAgentClient.getParam("agentID", m_student_id))
{
ROS_ERROR("Failed to get agentID");
}
@@ -966,21 +966,21 @@ void MainWindow::on_take_off_button_clicked()
{
std_msgs::Int32 msg;
msg.data = CMD_CRAZYFLY_TAKE_OFF;
- this->PPSClientCommandPublisher.publish(msg);
+ this->FlyingAgentClientCommandPublisher.publish(msg);
}
void MainWindow::on_land_button_clicked()
{
std_msgs::Int32 msg;
msg.data = CMD_CRAZYFLY_LAND;
- this->PPSClientCommandPublisher.publish(msg);
+ this->FlyingAgentClientCommandPublisher.publish(msg);
}
void MainWindow::on_motors_OFF_button_clicked()
{
std_msgs::Int32 msg;
msg.data = CMD_CRAZYFLY_MOTORS_OFF;
- this->PPSClientCommandPublisher.publish(msg);
+ this->FlyingAgentClientCommandPublisher.publish(msg);
}
@@ -1487,49 +1487,49 @@ void MainWindow::on_enable_safe_controller_clicked()
{
std_msgs::Int32 msg;
msg.data = CMD_USE_SAFE_CONTROLLER;
- this->PPSClientCommandPublisher.publish(msg);
+ this->FlyingAgentClientCommandPublisher.publish(msg);
}
void MainWindow::on_enable_demo_controller_clicked()
{
std_msgs::Int32 msg;
msg.data = CMD_USE_DEMO_CONTROLLER;
- this->PPSClientCommandPublisher.publish(msg);
+ this->FlyingAgentClientCommandPublisher.publish(msg);
}
void MainWindow::on_enable_student_controller_clicked()
{
std_msgs::Int32 msg;
msg.data = CMD_USE_STUDENT_CONTROLLER;
- this->PPSClientCommandPublisher.publish(msg);
+ this->FlyingAgentClientCommandPublisher.publish(msg);
}
void MainWindow::on_enable_mpc_controller_clicked()
{
std_msgs::Int32 msg;
msg.data = CMD_USE_MPC_CONTROLLER;
- this->PPSClientCommandPublisher.publish(msg);
+ this->FlyingAgentClientCommandPublisher.publish(msg);
}
void MainWindow::on_enable_remote_controller_clicked()
{
std_msgs::Int32 msg;
msg.data = CMD_USE_REMOTE_CONTROLLER;
- this->PPSClientCommandPublisher.publish(msg);
+ this->FlyingAgentClientCommandPublisher.publish(msg);
}
void MainWindow::on_enable_tuning_controller_clicked()
{
std_msgs::Int32 msg;
msg.data = CMD_USE_TUNING_CONTROLLER;
- this->PPSClientCommandPublisher.publish(msg);
+ this->FlyingAgentClientCommandPublisher.publish(msg);
}
void MainWindow::on_enable_picker_controller_clicked()
{
std_msgs::Int32 msg;
msg.data = CMD_USE_PICKER_CONTROLLER;
- this->PPSClientCommandPublisher.publish(msg);
+ this->FlyingAgentClientCommandPublisher.publish(msg);
}
diff --git a/dfall_ws/src/dfall_pkg/PPS.perspective b/dfall_ws/src/dfall_pkg/PPS.perspective
index 57c0387a..87d70db1 100644
--- a/dfall_ws/src/dfall_pkg/PPS.perspective
+++ b/dfall_ws/src/dfall_pkg/PPS.perspective
@@ -191,7 +191,7 @@
"keys": {
"publishers": {
"type": "repr",
- "repr": "u\"[{'type_name': 'std_msgs/Int32', 'topic_name': '/PPSClient/Command', 'enabled': False, 'rate': 1.0, 'expressions': {u'/PPSClient/Command/data': '3'}, 'publisher_id': 0, 'counter': 0}]\""
+ "repr": "u\"[{'type_name': 'std_msgs/Int32', 'topic_name': '/FlyingAgentClient/Command', 'enabled': False, 'rate': 1.0, 'expressions': {u'/FlyingAgentClient/Command/data': '3'}, 'publisher_id': 0, 'counter': 0}]\""
}
},
"groups": {}
diff --git a/dfall_ws/src/dfall_pkg/crazyradio/CrazyRadio.py b/dfall_ws/src/dfall_pkg/crazyradio/CrazyRadio.py
index 3746f705..ddc1fdf4 100755
--- a/dfall_ws/src/dfall_pkg/crazyradio/CrazyRadio.py
+++ b/dfall_ws/src/dfall_pkg/crazyradio/CrazyRadio.py
@@ -72,10 +72,9 @@ logging.basicConfig(level=logging.ERROR)
# CONTROLLER_ANGLE = 1
# CONTROLLER_RATE = 0
-
-TYPE_PPS_MOTORS = 6
-TYPE_PPS_RATE = 7
-TYPE_PPS_ANGLE = 8
+CF_COMMAND_TYPE_MOTORS = 6
+CF_COMMAND_TYPE_RATE = 7
+CF_COMMAND_TYPE_ANGLE = 8
RAD_TO_DEG = 57.296
@@ -88,7 +87,7 @@ DISCONNECTED = 2
CMD_RECONNECT = 0
CMD_DISCONNECT = 1
-# Commands for PPSClient
+# Commands for FlyingAgentClient
#CMD_USE_SAFE_CONTROLLER = 1
#CMD_USE_DEMO_CONTROLLER = 2
#CMD_USE_STUDENT_CONTROLLER = 3
@@ -106,7 +105,7 @@ rospy.loginfo('afdsasdfasdfsadfasdfasdfasdfasdfasdfasdf')
rospy.loginfo(record_file)
bag = rosbag.Bag(record_file, 'w')
-class PPSRadioClient:
+class CrazyRadioClient:
"""
CrazyRadio client that recieves the commands from the controller and
sends them in a CRTP package to the crazyflie with the specified
@@ -126,7 +125,7 @@ class PPSRadioClient:
self.link_uri = ""
self.status_pub = rospy.Publisher(node_name + '/CrazyRadioStatus', Int32, queue_size=1)
- self.PPSClient_command_pub = rospy.Publisher('PPSClient/Command', IntWithHeader, queue_size=1)
+ self.FlyingAgentClient_command_pub = rospy.Publisher('FlyingAgentClient/Command', IntWithHeader, queue_size=1)
time.sleep(1.0)
# Initialize the CrazyFlie and add callbacks
@@ -173,7 +172,7 @@ class PPSRadioClient:
msg = IntWithHeader()
msg.shouldCheckForID = False
msg.data = CMD_CRAZYFLY_MOTORS_OFF
- self.PPSClient_command_pub.publish(msg)
+ self.FlyingAgentClient_command_pub.publish(msg)
time.sleep(0.1)
print "[CRAZY RADIO] Disconnecting from %s" % self.link_uri
self._cf.close_link()
@@ -233,7 +232,7 @@ class PPSRadioClient:
msg = IntWithHeader()
msg.shouldCheckForID = False
msg.data = CMD_CRAZYFLY_MOTORS_OFF
- cf_client.PPSClient_command_pub.publish(msg)
+ cf_client.FlyingAgentClient_command_pub.publish(msg)
rospy.loginfo("[CRAZY RADIO] Connection to %s successful: " % link_uri)
# Config for Logging
@@ -263,7 +262,7 @@ class PPSRadioClient:
msg = IntWithHeader()
msg.shouldCheckForID = False
msg.data = CMD_CRAZYFLY_MOTORS_OFF
- self.PPSClient_command_pub.publish(msg)
+ self.FlyingAgentClient_command_pub.publish(msg)
self.logconf.stop()
rospy.loginfo("logconf stopped")
@@ -273,19 +272,19 @@ class PPSRadioClient:
def _send_to_commander_motor(self, cmd1, cmd2, cmd3, cmd4):
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_GENERIC
- pk.data = struct.pack('<BHHHH', TYPE_PPS_MOTORS, cmd1, cmd2, cmd3, cmd4)
+ pk.data = struct.pack('<BHHHH', CF_COMMAND_TYPE_MOTORS, cmd1, cmd2, cmd3, cmd4)
self._cf.send_packet(pk)
def _send_to_commander_rate(self, cmd1, cmd2, cmd3, cmd4, roll_rate, pitch_rate, yaw_rate):
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_GENERIC
- pk.data = struct.pack('<BHHHHfff', TYPE_PPS_RATE, cmd1, cmd2, cmd3, cmd4, roll_rate * RAD_TO_DEG, pitch_rate * RAD_TO_DEG, yaw_rate * RAD_TO_DEG)
+ pk.data = struct.pack('<BHHHHfff', CF_COMMAND_TYPE_RATE, cmd1, cmd2, cmd3, cmd4, roll_rate * RAD_TO_DEG, pitch_rate * RAD_TO_DEG, yaw_rate * RAD_TO_DEG)
self._cf.send_packet(pk)
def _send_to_commander_angle(self, cmd1, cmd2, cmd3, cmd4, roll, pitch, yaw):
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_GENERIC
- pk.data = struct.pack('<BHHHHfff', TYPE_PPS_ANGLE, cmd1, cmd2, cmd3, cmd4, roll * RAD_TO_DEG, pitch * RAD_TO_DEG, yaw * RAD_TO_DEG)
+ pk.data = struct.pack('<BHHHHfff', CF_COMMAND_TYPE_ANGLE, cmd1, cmd2, cmd3, cmd4, roll * RAD_TO_DEG, pitch * RAD_TO_DEG, yaw * RAD_TO_DEG)
self._cf.send_packet(pk)
# def _send_to_commander(self,roll, pitch, yaw, thrust, cmd1, cmd2, cmd3, cmd4, mode):
@@ -350,13 +349,13 @@ def controlCommandCallback(data):
#cmd1..4 must not be 0, as crazyflie onboard controller resets!
#pitch and yaw are inverted on crazyflie controller
- if data.onboardControllerType == TYPE_PPS_MOTORS:
+ if data.onboardControllerType == CF_COMMAND_TYPE_MOTORS:
cf_client._send_to_commander_motor(data.motorCmd1, data.motorCmd2, data.motorCmd3, data.motorCmd4)
- elif data.onboardControllerType == TYPE_PPS_RATE:
+ elif data.onboardControllerType == CF_COMMAND_TYPE_RATE:
cf_client._send_to_commander_rate(data.motorCmd1, data.motorCmd2, data.motorCmd3, data.motorCmd4, data.roll, -data.pitch, -data.yaw)
- elif data.onboardControllerType == TYPE_PPS_ANGLE:
+ elif data.onboardControllerType == CF_COMMAND_TYPE_ANGLE:
cf_client._send_to_commander_angle(data.motorCmd1, data.motorCmd2, data.motorCmd3, data.motorCmd4, data.roll, -data.pitch, -data.yaw)
# cf_client._send_to_commander(data.roll, -data.pitch, -data.yaw, 0, data.motorCmd1, data.motorCmd2, data.motorCmd3, data.motorCmd4, data.onboardControllerType)
@@ -380,7 +379,7 @@ if __name__ == '__main__':
# Initialize the low-level drivers (don't list the debug drivers)
cflib.crtp.init_drivers(enable_debug_driver=False)
- #wait until address parameter is set by PPSClient
+ #wait until address parameter is set by FlyingAgentClient
while not rospy.has_param("~crazyFlieAddress"):
time.sleep(0.05)
@@ -394,8 +393,8 @@ if __name__ == '__main__':
# Fetch the YAML paramter "agentID" and "coordID"
global m_agentID
- m_agentID = rospy.get_param(ros_namespace + "/PPSClient/agentID")
- coordID = rospy.get_param(ros_namespace + "/PPSClient/coordID")
+ m_agentID = rospy.get_param(ros_namespace + "/FlyingAgentClient/agentID")
+ coordID = rospy.get_param(ros_namespace + "/FlyingAgentClient/coordID")
# Convert the coordinator ID to a zero-padded string
coordID_as_string = format(coordID, '03')
@@ -404,19 +403,19 @@ if __name__ == '__main__':
global cfbattery_pub
cfbattery_pub = rospy.Publisher(node_name + '/CFBattery', Float32, queue_size=10)
- # Initialise a "PPSRadioClient" type variable that handles
+ # Initialise a "CrazyRadioClient" type variable that handles
# all communication over the CrazyRadio
global cf_client
- cf_client = PPSRadioClient()
+ cf_client = CrazyRadioClient()
print "[CRAZY RADIO] DEBUG 2"
# Subscribe to the commands for when to (dis-)connect the
# CrazyRadio connection with the Crazyflie
- # > For the radio commands from the PPSClient of this agent
- rospy.Subscriber("PPSClient/crazyRadioCommand", IntWithHeader, cf_client.crazyRadioCommandCallback)
+ # > For the radio commands from the FlyingAgentClient of this agent
+ rospy.Subscriber("FlyingAgentClient/crazyRadioCommand", IntWithHeader, cf_client.crazyRadioCommandCallback)
# > For the radio command from the coordinator
- rospy.Subscriber("/dfall/coord" + coordID_as_string + "/PPSClient/crazyRadioCommand", IntWithHeader, cf_client.crazyRadioCommandCallback)
+ rospy.Subscriber("/dfall/coord" + coordID_as_string + "/FlyingAgentClient/crazyRadioCommand", IntWithHeader, cf_client.crazyRadioCommandCallback)
# Advertise a Serice for the current status
@@ -427,7 +426,7 @@ if __name__ == '__main__':
time.sleep(1.0)
- rospy.Subscriber("PPSClient/ControlCommand", ControlCommand, controlCommandCallback)
+ rospy.Subscriber("FlyingAgentClient/ControlCommand", ControlCommand, controlCommandCallback)
print "[CRAZY RADIO] Node READY :-)"
rospy.spin()
@@ -438,7 +437,7 @@ if __name__ == '__main__':
msg = IntWithHeader()
msg.shouldCheckForID = False
msg.data = CMD_CRAZYFLY_MOTORS_OFF
- cf_client.PPSClient_command_pub.publish(msg)
+ cf_client.FlyingAgentClient_command_pub.publish(msg)
#wait for client to send its commands
time.sleep(1.0)
diff --git a/dfall_ws/src/dfall_pkg/crazyradio/TestCF.py b/dfall_ws/src/dfall_pkg/crazyradio/TestCF.py
index 5cc25317..3cfb0e2a 100755
--- a/dfall_ws/src/dfall_pkg/crazyradio/TestCF.py
+++ b/dfall_ws/src/dfall_pkg/crazyradio/TestCF.py
@@ -36,9 +36,9 @@ logging.basicConfig(level=logging.ERROR)
# Types:
-TYPE_PPSMOTORS = 6
-TYPE_PPSRATE = 7
-TYPE_PPSANGLE = 8
+CF_COMMAND_TYPE_MOTORS = 6
+CF_COMMAND_TYPE_RATE = 7
+CF_COMMAND_TYPE_ANGLE = 8
CONTROLLER_MOTOR = 2
CONTROLLER_ANGLE = 1
@@ -54,7 +54,7 @@ DISCONNECTED = 2
CMD_RECONNECT = 0
CMD_DISCONNECT = 1
-# Commands for PPSClient
+# Commands for FlyingAgentClient
CMD_USE_SAFE_CONTROLLER = 1
CMD_USE_CUSTOM_CONTROLLER = 2
CMD_CRAZYFLY_TAKE_OFF = 3
@@ -67,7 +67,7 @@ CMD_CRAZYFLY_MOTORS_OFF = 5
# rospy.loginfo(record_file)
# bag = rosbag.Bag(record_file, 'w')
-class PPSRadioClient:
+class CrazyRadioClient:
"""
CrazyRadio client that recieves the commands from the controller and
sends them in a CRTP package to the crazyflie with the specified
@@ -87,7 +87,7 @@ class PPSRadioClient:
self.link_uri = ""
# self.status_pub = rospy.Publisher(node_name + '/CrazyRadioStatus', Int32, queue_size=1)
- # self.PPSClient_command_pub = rospy.Publisher('PPSClient/Command', Int32, queue_size=1)
+ # self.FlyingAgentClient_command_pub = rospy.Publisher('FlyingAgentClient/Command', Int32, queue_size=1)
time.sleep(1.0)
# Initialize the CrazyFlie and add callbacks
@@ -192,19 +192,19 @@ class PPSRadioClient:
def _send_to_commander_motor(self, cmd1, cmd2, cmd3, cmd4):
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_GENERIC
- pk.data = struct.pack('<BHHHH', TYPE_PPSMOTORS, cmd1, cmd2, cmd3, cmd4)
+ pk.data = struct.pack('<BHHHH', CF_COMMAND_TYPE_MOTORS, cmd1, cmd2, cmd3, cmd4)
self._cf.send_packet(pk)
def _send_to_commander_rate(self, cmd1, cmd2, cmd3, cmd4, roll_rate, pitch_rate, yaw_rate):
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_GENERIC
- pk.data = struct.pack('<BHHHHfff', TYPE_PPSRATE, cmd1, cmd2, cmd3, cmd4, roll_rate, pitch_rate, yaw_rate)
+ pk.data = struct.pack('<BHHHHfff', CF_COMMAND_TYPE_RATE, cmd1, cmd2, cmd3, cmd4, roll_rate, pitch_rate, yaw_rate)
self._cf.send_packet(pk)
def _send_to_commander_angle(self, cmd1, cmd2, cmd3, cmd4, roll, pitch, yaw):
pk = CRTPPacket()
pk.port = CRTPPort.COMMANDER_GENERIC
- pk.data = struct.pack('<BHHHHfff', TYPE_PPSANGLE, cmd1, cmd2, cmd3, cmd4, roll, pitch, yaw)
+ pk.data = struct.pack('<BHHHHfff', CF_COMMAND_TYPE_ANGLE, cmd1, cmd2, cmd3, cmd4, roll, pitch, yaw)
self._cf.send_packet(pk)
if __name__ == '__main__':
@@ -215,7 +215,7 @@ if __name__ == '__main__':
# Initialize the low-level drivers (don't list the debug drivers)
cflib.crtp.init_drivers(enable_debug_driver=False)
- #wait until address parameter is set by PPSClient
+ #wait until address parameter is set by FlyingAgentClient
# while not rospy.has_param("~crazyFlieAddress"):
# time.sleep(0.05)
@@ -228,19 +228,19 @@ if __name__ == '__main__':
global cf_client
- cf_client = PPSRadioClient()
- # rospy.Subscriber("PPSClient/crazyRadioCommand", Int32, cf_client.crazyRadioCommandCallback) # allows commands from scripts
+ cf_client = CrazyRadioClient()
+ # rospy.Subscriber("FlyingAgentClient/crazyRadioCommand", Int32, cf_client.crazyRadioCommandCallback) # allows commands from scripts
# time.sleep(1.0)
- # rospy.Subscriber("PPSClient/ControlCommand", ControlCommand, controlCommandCallback)
+ # rospy.Subscriber("FlyingAgentClient/ControlCommand", ControlCommand, controlCommandCallback)
# rospy.spin()
# rospy.loginfo("Turning off crazyflie")
# change state to motors OFF
- # cf_client.PPSClient_command_pub.publish(CMD_CRAZYFLY_MOTORS_OFF)
+ # cf_client.FlyingAgentClient_command_pub.publish(CMD_CRAZYFLY_MOTORS_OFF)
#wait for client to send its commands
# time.sleep(1.0)
diff --git a/dfall_ws/src/dfall_pkg/include/nodes/PPSClient.h b/dfall_ws/src/dfall_pkg/include/nodes/FlyingAgentClient.h
similarity index 100%
rename from dfall_ws/src/dfall_pkg/include/nodes/PPSClient.h
rename to dfall_ws/src/dfall_pkg/include/nodes/FlyingAgentClient.h
diff --git a/dfall_ws/src/dfall_pkg/launch/Agent.launch b/dfall_ws/src/dfall_pkg/launch/Agent.launch
index 24882047..0eca8749 100755
--- a/dfall_ws/src/dfall_pkg/launch/Agent.launch
+++ b/dfall_ws/src/dfall_pkg/launch/Agent.launch
@@ -27,12 +27,12 @@
<rosparam command="load" file="$(find dfall_pkg)/param/BatteryMonitor.yaml" />
</node>
- <!-- PPS CLIENT -->
+ <!-- FLYING AGENT CLIENT -->
<node
pkg = "dfall_pkg"
- name = "PPSClient"
+ name = "FlyingAgentClient"
output = "screen"
- type = "PPSClient"
+ type = "FlyingAgentClient"
>
<param name="agentID" value="$(arg agentID)" />
<param name="coordID" value="$(arg coordID)" />
diff --git a/dfall_ws/src/dfall_pkg/scripts/land_crazyflie b/dfall_ws/src/dfall_pkg/scripts/land_crazyflie
index 38d16c7d..d475b564 100755
--- a/dfall_ws/src/dfall_pkg/scripts/land_crazyflie
+++ b/dfall_ws/src/dfall_pkg/scripts/land_crazyflie
@@ -2,5 +2,5 @@
if [ "$#" -ne 0 ]
then echo "usage: land crazyfly <no arguments>"
-else rostopic pub -1 /$ROS_NAMESPACE/PPSClient/Command std_msgs/Int32 4;
+else rostopic pub -1 /$ROS_NAMESPACE/FlyingAgentClient/Command std_msgs/Int32 4;
fi
\ No newline at end of file
diff --git a/dfall_ws/src/dfall_pkg/scripts/load_custom_controller b/dfall_ws/src/dfall_pkg/scripts/load_custom_controller
index 50a3eefd..fb99d4e7 100755
--- a/dfall_ws/src/dfall_pkg/scripts/load_custom_controller
+++ b/dfall_ws/src/dfall_pkg/scripts/load_custom_controller
@@ -2,6 +2,6 @@
if [ "$#" -ne 0 ]
then echo "usage: load_custom_controller <no arguments>"
-else rostopic pub -1 /$ROS_NAMESPACE/PPSClient/Command std_msgs/Int32 2;
+else rostopic pub -1 /$ROS_NAMESPACE/FlyingAgentClient/Command std_msgs/Int32 2;
fi
diff --git a/dfall_ws/src/dfall_pkg/scripts/load_safe_controller b/dfall_ws/src/dfall_pkg/scripts/load_safe_controller
index 25570c51..c58ec1d3 100755
--- a/dfall_ws/src/dfall_pkg/scripts/load_safe_controller
+++ b/dfall_ws/src/dfall_pkg/scripts/load_safe_controller
@@ -2,6 +2,6 @@
if [ "$#" -ne 0 ]
then echo "usage: load_safe_controller <no arguments>"
-else rostopic pub -1 /$ROS_NAMESPACE/PPSClient/Command std_msgs/Int32 1;
+else rostopic pub -1 /$ROS_NAMESPACE/FlyingAgentClient/Command std_msgs/Int32 1;
fi
diff --git a/dfall_ws/src/dfall_pkg/scripts/motors_off_crazyflie b/dfall_ws/src/dfall_pkg/scripts/motors_off_crazyflie
index c4acfeef..a607a00a 100755
--- a/dfall_ws/src/dfall_pkg/scripts/motors_off_crazyflie
+++ b/dfall_ws/src/dfall_pkg/scripts/motors_off_crazyflie
@@ -2,6 +2,6 @@
if [ "$#" -ne 0 ]
then echo "usage: motors_off_crazyflie <no arguments>"
-else rostopic pub -1 /$ROS_NAMESPACE/PPSClient/Command std_msgs/Int32 5;
+else rostopic pub -1 /$ROS_NAMESPACE/FlyingAgentClient/Command std_msgs/Int32 5;
fi
diff --git a/dfall_ws/src/dfall_pkg/scripts/take_off_crazyflie b/dfall_ws/src/dfall_pkg/scripts/take_off_crazyflie
index 0bc0d306..6491218d 100755
--- a/dfall_ws/src/dfall_pkg/scripts/take_off_crazyflie
+++ b/dfall_ws/src/dfall_pkg/scripts/take_off_crazyflie
@@ -2,6 +2,6 @@
if [ "$#" -ne 0 ]
then echo "usage: take_off crazyfly <no arguments>"
-else rostopic pub -1 /$ROS_NAMESPACE/PPSClient/Command std_msgs/Int32 3;
+else rostopic pub -1 /$ROS_NAMESPACE/FlyingAgentClient/Command std_msgs/Int32 3;
fi
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/BatteryMonitor.cpp b/dfall_ws/src/dfall_pkg/src/nodes/BatteryMonitor.cpp
index 24787c0d..f83abf9a 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/BatteryMonitor.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/BatteryMonitor.cpp
@@ -405,11 +405,12 @@ int main(int argc, char* argv[])
// Starting the ROS-node
ros::init(argc, argv, "BatteryMonitor");
- // Create a "ros::NodeHandle" type local variable named "nodeHandle",
- // the "~" indcates that "self" is the node handle assigned.
+ // Create a "ros::NodeHandle" type local variable "nodeHandle"
+ // as the current node, the "~" indcates that "self" is the
+ // node handle assigned to this variable.
ros::NodeHandle nodeHandle("~");
- // Get the namespace of this node
+ // Get the namespace of this "BatteryMonitor" node
std::string m_namespace = ros::this_node::getNamespace();
ROS_INFO_STREAM("[BATTERY MONITOR] ros::this_node::getNamespace() = " << m_namespace);
@@ -417,8 +418,19 @@ int main(int argc, char* argv[])
// AGENT ID AND COORDINATOR ID
+ // NOTES:
+ // > If you look at the "Agent.launch" file in the "launch" folder,
+ // you will see the following line of code:
+ // <param name="agentID" value="$(optenv ROS_NAMESPACE)" />
+ // This line of code adds a parameter named "agentID" to the
+ // "FlyingAgentClient" node.
+ // > Thus, to get access to this "agentID" paremeter, we first
+ // need to get a handle to the "FlyingAgentClient" node within which this
+ // controller service is nested.
+
+
// Get the ID of the agent and its coordinator
- bool isValid_IDs = getAgentIDandCoordIDfromClientNode( m_namespace + "/PPSClient" , &m_agentID , &m_coordID);
+ bool isValid_IDs = getAgentIDandCoordIDfromClientNode( m_namespace + "/FlyingAgentClient" , &m_agentID , &m_coordID);
// Stall the node IDs are not valid
if ( !isValid_IDs )
@@ -435,6 +447,19 @@ int main(int argc, char* argv[])
// PARAMETER SERVICE NAMESPACE AND NODEHANDLES:
+ // NOTES:
+ // > The parameters that are specified thorugh the *.yaml files
+ // are managed by a separate node called the "Parameter Service"
+ // > A separate node is used for reasons of speed and generality
+ // > To allow for a distirbuted architecture, there are two
+ // "ParamterService" nodes that are relevant:
+ // 1) the one that is nested under the "m_agentID" namespace
+ // 2) the one that is nested under the "m_coordID" namespace
+ // > The following lines of code create the namespace (as strings)
+ // to there two relevant "ParameterService" nodes.
+ // > The node handles are also created because they are needed
+ // for the ROS Subscriptions that follow.
+
// Set the class variable "m_namespace_to_own_agent_parameter_service",
// i.e., the namespace of parameter service for this agent
m_namespace_to_own_agent_parameter_service = m_namespace + "/ParameterService";
@@ -455,7 +480,7 @@ int main(int argc, char* argv[])
// SUBSCRIBE TO "YAML PARAMTERS READY" MESSAGES
- // The parameters service publish messages with names of the form:
+ // The parameter service publishes messages with names of the form:
// /dfall/.../ParameterService/<filename with .yaml extension>
ros::Subscriber batteryMonitor_yamlReady_fromAgent = nodeHandle_to_own_agent_parameter_service.subscribe( "BatteryMonitor", 1, isReadyBatteryMonitorYamlCallback);
ros::Subscriber batteryMonitor_yamlReady_fromCoord = nodeHandle_to_coordinator_parameter_service.subscribe("BatteryMonitor", 1, isReadyBatteryMonitorYamlCallback);
@@ -487,9 +512,9 @@ int main(int argc, char* argv[])
std::string namespace_to_crazyradio = m_namespace + "/CrazyRadio";
ros::NodeHandle nodeHandle_to_crazyradio(namespace_to_crazyradio);
- // Get a node handle to the PPS Client
- std::string namespace_to_ppsclient = m_namespace + "/PPSClient";
- ros::NodeHandle nodeHandle_to_ppsclient(namespace_to_ppsclient);
+ // Get a node handle to the Flying Agent Client
+ std::string namespace_to_FlyingAgentClient = m_namespace + "/FlyingAgentClient";
+ ros::NodeHandle nodeHandle_to_FlyingAgentClient(namespace_to_FlyingAgentClient);
// Subscribe to the voltage of the battery
ros::Subscriber newBatteryVoltageSubscriber = nodeHandle_to_crazyradio.subscribe("CFBattery", 1, newBatteryVoltageCallback);
@@ -498,7 +523,7 @@ int main(int argc, char* argv[])
ros::Subscriber crazyRadioStatusSubscriber = nodeHandle_to_crazyradio.subscribe("CrazyRadioStatus", 1, crazyRadioStatusCallback);
// Subscribe to the flying state of the agent
- ros::Subscriber agentOperatingStateSubscriber = nodeHandle_to_ppsclient.subscribe("flyingState", 1, agentOperatingStateCallback);
+ ros::Subscriber agentOperatingStateSubscriber = nodeHandle_to_FlyingAgentClient.subscribe("flyingState", 1, agentOperatingStateCallback);
// Initialise the operating state
m_agent_operating_state = AGENT_OPERATING_STATE_MOTORS_OFF;
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/DefaultControllerService.cpp b/dfall_ws/src/dfall_pkg/src/nodes/DefaultControllerService.cpp
index 2dedaf61..20a5397d 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/DefaultControllerService.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/DefaultControllerService.cpp
@@ -170,7 +170,7 @@
//
//
//
-// This function WILL NEED TO BE edited for successful completion of the PPS exercise
+// This function WILL NEED TO BE edited for successful completion of the classroom exercise
bool calculateControlOutput(Controller::Request &request, Controller::Response &response)
{
@@ -214,7 +214,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
// > Note: the function "convertIntoBodyFrame" is implemented in this file
// and by default does not perform any conversion. The equations to convert
// the state error into the body frame should be implemented in that function
- // for successful completion of the PPS exercise
+ // for successful completion of the classroom exercise
float stateErrorBody[9];
convertIntoBodyFrame(stateErrorInertial, stateErrorBody, request.ownCrazyflie.yaw);
@@ -424,7 +424,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
// This is the yaw component of the intrinsic Euler angles in [radians] as measured by
// the Vicon motion capture system
//
-// This function WILL NEED TO BE edited for successful completion of the PPS exercise
+// This function WILL NEED TO BE edited for successful completion of the classroom exercise
void convertIntoBodyFrame(float stateInertial[9], float (&stateBody)[9], float yaw_measured)
{
@@ -782,8 +782,8 @@ void fetchDefaultControllerYamlParameters(ros::NodeHandle& nodeHandle)
// ----------------------------------------------------------------------------------
-int main(int argc, char* argv[]) {
-
+int main(int argc, char* argv[])
+{
// Starting the ROS-node
ros::init(argc, argv, "DefaultControllerService");
@@ -805,14 +805,14 @@ int main(int argc, char* argv[]) {
// you will see the following line of code:
// <param name="agentID" value="$(optenv ROS_NAMESPACE)" />
// This line of code adds a parameter named "agentID" to the
- // "PPSClient" node.
+ // "FlyingAgentClient" node.
// > Thus, to get access to this "agentID" paremeter, we first
- // need to get a handle to the "PPSClient" node within which this
+ // need to get a handle to the "FlyingAgentClient" node within which this
// controller service is nested.
// Get the ID of the agent and its coordinator
- bool isValid_IDs = getAgentIDandCoordIDfromClientNode( m_namespace + "/PPSClient" , &m_agentID , &m_coordID);
+ bool isValid_IDs = getAgentIDandCoordIDfromClientNode( m_namespace + "/FlyingAgentClient" , &m_agentID , &m_coordID);
// Stall the node IDs are not valid
if ( !isValid_IDs )
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/DemoControllerService.cpp b/dfall_ws/src/dfall_pkg/src/nodes/DemoControllerService.cpp
index bfc3bebc..ded12476 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/DemoControllerService.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/DemoControllerService.cpp
@@ -169,7 +169,7 @@
//
//
//
-// This function WILL NEED TO BE edited for successful completion of the PPS exercise
+// This function WILL NEED TO BE edited for successful completion of the classroom exercise
bool calculateControlOutput(Controller::Request &request, Controller::Response &response)
{
@@ -1259,7 +1259,7 @@ void convert_stateInertial_to_bodyFrameError(float stateInertial[12], float setp
// > Note: the function "convertIntoBodyFrame" is implemented in this file
// and by default does not perform any conversion. The equations to convert
// the state error into the body frame should be implemented in that function
- // for successful completion of the PPS exercise
+ // for successful completion of the classroom exercise
convertIntoBodyFrame(stateInertial, bodyFrameError, temp_stateInertial_yaw);
}
@@ -1280,7 +1280,7 @@ void convert_stateInertial_to_bodyFrameError(float stateInertial[12], float setp
// CCCC OOO N N V EEEEE R R SSSS III OOO N N
// ------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
float computeMotorPolyBackward(float thrust)
{
// Compute the 16-bit command signal that generates the "thrust" force
@@ -1316,7 +1316,7 @@ float computeMotorPolyBackward(float thrust)
// GGGG UUU III CCCC A A LLLLL LLLLL BBBB A A CCCC K K
// ----------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
void setpointCallback(const Setpoint& newSetpoint)
{
setpoint[0] = newSetpoint.x;
@@ -1327,7 +1327,7 @@ void setpointCallback(const Setpoint& newSetpoint)
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
// > This function is called anytime a message is published on the topic to which the
// class instance variable "xyz_yaw_to_follow_subscriber" is subscribed
void xyz_yaw_to_follow_callback(const Setpoint& newSetpoint)
@@ -1499,7 +1499,7 @@ void isReadyDemoControllerYamlCallback(const IntWithHeader & msg)
-// This function CAN BE edited for successful completion of the PPS exercise, and the
+// This function CAN BE edited for successful completion of the classroom exercise, and the
// use of parameters fetched from the YAML file is highly recommended to make tuning of
// your controller easier and quicker.
void fetchDemoControllerYamlParameters(ros::NodeHandle& nodeHandle)
@@ -1627,7 +1627,7 @@ void fetchDemoControllerYamlParameters(ros::NodeHandle& nodeHandle)
}
-// This function CAN BE edited for successful completion of the PPS exercise, and the
+// This function CAN BE edited for successful completion of the classroom exercise, and the
// use of parameters loaded from the YAML file is highly recommended to make tuning of
// your controller easier and quicker.
void processFetchedParameters()
@@ -1734,7 +1734,7 @@ void processFetchedParameters()
// M M A A III N N
// ----------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
int main(int argc, char* argv[]) {
// Starting the ROS-node
@@ -1757,14 +1757,14 @@ int main(int argc, char* argv[]) {
// you will see the following line of code:
// <param name="agentID" value="$(optenv ROS_NAMESPACE)" />
// This line of code adds a parameter named "agentID" to the
- // "PPSClient" node.
+ // "FlyingAgentClient" node.
// > Thus, to get access to this "studentID" paremeter, we first
- // need to get a handle to the "PPSClient" node within which this
+ // need to get a handle to the "FlyingAgentClient" node within which this
// controller service is nested.
// Get the ID of the agent and its coordinator
- bool isValid_IDs = getAgentIDandCoordIDfromClientNode( m_namespace + "/PPSClient" , &m_agentID , &m_coordID);
+ bool isValid_IDs = getAgentIDandCoordIDfromClientNode( m_namespace + "/FlyingAgentClient" , &m_agentID , &m_coordID);
// Stall the node IDs are not valid
if ( !isValid_IDs )
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/PPSClient.cpp b/dfall_ws/src/dfall_pkg/src/nodes/FlyingAgentClient.cpp
similarity index 84%
rename from dfall_ws/src/dfall_pkg/src/nodes/PPSClient.cpp
rename to dfall_ws/src/dfall_pkg/src/nodes/FlyingAgentClient.cpp
index 3e6a8057..467973ab 100755
--- a/dfall_ws/src/dfall_pkg/src/nodes/PPSClient.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/FlyingAgentClient.cpp
@@ -34,7 +34,7 @@
// INCLUDE THE HEADER
-#include "nodes/PPSClient.h"
+#include "nodes/FlyingAgentClient.h"
@@ -65,15 +65,15 @@
bool safetyCheck(CrazyflieData data, ControlCommand controlCommand) {
//position check
if((data.x < context.localArea.xmin) or (data.x > context.localArea.xmax)) {
- ROS_INFO_STREAM("[PPS CLIENT] x safety failed");
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] x safety failed");
return false;
}
if((data.y < context.localArea.ymin) or (data.y > context.localArea.ymax)) {
- ROS_INFO_STREAM("[PPS CLIENT] y safety failed");
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] y safety failed");
return false;
}
if((data.z < context.localArea.zmin) or (data.z > context.localArea.zmax)) {
- ROS_INFO_STREAM("[PPS CLIENT] z safety failed");
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] z safety failed");
return false;
}
@@ -82,11 +82,11 @@ bool safetyCheck(CrazyflieData data, ControlCommand controlCommand) {
//the angleMargin is a value in the range (0,1). The closer to 1, the closer to 90 deg are the roll and pitch angles allowed to become before the safeController takes over
if(yaml_strictSafety){
if((data.roll > PI/2*yaml_angleMargin) or (data.roll < -PI/2*yaml_angleMargin)) {
- ROS_INFO_STREAM("[PPS CLIENT] roll too big.");
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] roll too big.");
return false;
}
if((data.pitch > PI/2*yaml_angleMargin) or (data.pitch < -PI/2*yaml_angleMargin)) {
- ROS_INFO_STREAM("[PPS CLIENT] pitch too big.");
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] pitch too big.");
return false;
}
}
@@ -137,11 +137,11 @@ void takeOffCF(CrazyflieData& current_local_coordinates) //local because the set
// setpoint_msg.yaw = current_local_coordinates.yaw; //previous one
setpoint_msg.yaw = 0.0;
safeControllerServiceSetpointPublisher.publish(setpoint_msg);
- ROS_INFO("[PPS CLIENT] Take OFF:");
- ROS_INFO("[PPS CLIENT] ------Current coordinates:");
- ROS_INFO("[PPS CLIENT] X: %f, Y: %f, Z: %f", current_local_coordinates.x, current_local_coordinates.y, current_local_coordinates.z);
- ROS_INFO("[PPS CLIENT] ------New coordinates:");
- ROS_INFO("[PPS CLIENT] X: %f, Y: %f, Z: %f", setpoint_msg.x, setpoint_msg.y, setpoint_msg.z);
+ ROS_INFO("[FLYING AGENT CLIENT] Take OFF:");
+ ROS_INFO("[FLYING AGENT CLIENT] ------Current coordinates:");
+ ROS_INFO("[FLYING AGENT CLIENT] X: %f, Y: %f, Z: %f", current_local_coordinates.x, current_local_coordinates.y, current_local_coordinates.z);
+ ROS_INFO("[FLYING AGENT CLIENT] ------New coordinates:");
+ ROS_INFO("[FLYING AGENT CLIENT] X: %f, Y: %f, Z: %f", setpoint_msg.x, setpoint_msg.y, setpoint_msg.z);
// now, use safe controller to go to that setpoint
loadSafeController();
@@ -172,12 +172,12 @@ void changeFlyingStateTo(int new_state)
{
if(crazyradio_status == CRAZY_RADIO_STATE_CONNECTED)
{
- ROS_INFO("[PPS CLIENT] Change state to: %d", new_state);
+ ROS_INFO("[FLYING AGENT CLIENT] Change state to: %d", new_state);
flying_state = new_state;
}
else
{
- ROS_INFO("[PPS CLIENT] Disconnected and trying to change state. State goes to MOTORS OFF");
+ ROS_INFO("[FLYING AGENT CLIENT] Disconnected and trying to change state. State goes to MOTORS OFF");
flying_state = STATE_MOTORS_OFF;
}
@@ -226,7 +226,7 @@ void viconCallback(const ViconData& viconData)
if(changed_state_flag) // stuff that will be run only once when changing state
{
changed_state_flag = false;
- ROS_INFO("[PPS CLIENT] STATE_MOTORS_OFF");
+ ROS_INFO("[FLYING AGENT CLIENT] STATE_MOTORS_OFF");
}
break;
case STATE_TAKE_OFF: //we need to move up from where we are now.
@@ -235,7 +235,7 @@ void viconCallback(const ViconData& viconData)
changed_state_flag = false;
takeOffCF(local);
finished_take_off = false;
- ROS_INFO("[PPS CLIENT] STATE_TAKE_OFF");
+ ROS_INFO("[FLYING AGENT CLIENT] STATE_TAKE_OFF");
timer_takeoff = nodeHandle.createTimer(ros::Duration(yaml_duration_take_off), takeOffTimerCallback, true);
}
if(finished_take_off)
@@ -251,7 +251,7 @@ void viconCallback(const ViconData& viconData)
changed_state_flag = false;
// need to change setpoint to the controller one
goToControllerSetpoint();
- ROS_INFO("[PPS CLIENT] STATE_FLYING");
+ ROS_INFO("[FLYING AGENT CLIENT] STATE_FLYING");
}
break;
case STATE_LAND:
@@ -260,7 +260,7 @@ void viconCallback(const ViconData& viconData)
changed_state_flag = false;
landCF(local);
finished_land = false;
- ROS_INFO("[PPS CLIENT] STATE_LAND");
+ ROS_INFO("[FLYING AGENT CLIENT] STATE_LAND");
timer_takeoff = nodeHandle.createTimer(ros::Duration(yaml_duration_landing), landTimerCallback, true);
}
if(finished_land)
@@ -308,22 +308,22 @@ void viconCallback(const ViconData& viconData)
success = pickerController.call(controllerCall);
break;
default:
- ROS_ERROR("[PPS CLIENT] the current controller was not recognised");
+ ROS_ERROR("[FLYING AGENT CLIENT] the current controller was not recognised");
break;
}
// Ensure success and enforce safety
if(!success)
{
- ROS_ERROR("[PPS CLIENT] Failed to call a 'non-safe' controller, switching to safe controller");
- //ROS_ERROR_STREAM("[PPS CLIENT] 'non-safe' controller status: valid: " << demoController.isValid() << ", exists: " << demoController.exists());
- //ROS_ERROR_STREAM("[PPS CLIENT] 'non-safe' controller name: " << demoController.getService());
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to call a 'non-safe' controller, switching to safe controller");
+ //ROS_ERROR_STREAM("[FLYING AGENT CLIENT] 'non-safe' controller status: valid: " << demoController.isValid() << ", exists: " << demoController.exists());
+ //ROS_ERROR_STREAM("[FLYING AGENT CLIENT] 'non-safe' controller name: " << demoController.getService());
setInstantController(SAFE_CONTROLLER);
}
else if(!safetyCheck(global, controllerCall.response.controlOutput))
{
setInstantController(SAFE_CONTROLLER);
- ROS_INFO_STREAM("[PPS CLIENT] safety check failed, switching to safe controller");
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] safety check failed, switching to safe controller");
}
@@ -362,7 +362,7 @@ void viconCallback(const ViconData& viconData)
bool success = safeController.call(controllerCall);
if(!success) {
- ROS_ERROR_STREAM("[PPS CLIENT] Failed to call safe controller, valid: " << safeController.isValid() << ", exists: " << safeController.exists());
+ ROS_ERROR_STREAM("[FLYING AGENT CLIENT] Failed to call safe controller, valid: " << safeController.isValid() << ", exists: " << safeController.exists());
}
}
@@ -394,7 +394,7 @@ void viconCallback(const ViconData& viconData)
void loadCrazyflieContext() {
CMQuery contextCall;
contextCall.request.studentID = m_agentID;
- ROS_INFO_STREAM("[PPS CLIENT] AgentID:" << m_agentID);
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] AgentID:" << m_agentID);
CrazyflieContext new_context;
@@ -402,7 +402,7 @@ void loadCrazyflieContext() {
if(centralManager.call(contextCall)) {
new_context = contextCall.response.crazyflieContext;
- ROS_INFO_STREAM("[PPS CLIENT] CrazyflieContext:\n" << new_context);
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] CrazyflieContext:\n" << new_context);
if((context.crazyflieName != "") && (new_context.crazyflieName != context.crazyflieName)) //linked crazyflie name changed and it was not empty before
{
@@ -414,7 +414,7 @@ void loadCrazyflieContext() {
// msg.data = CMD_CRAZYFLY_MOTORS_OFF;
// commandPublisher.publish(msg);
- ROS_INFO("[PPS CLIENT] CF is now different for this student. Disconnect and turn it off");
+ ROS_INFO("[FLYING AGENT CLIENT] CF is now different for this student. Disconnect and turn it off");
IntWithHeader msg;
msg.shouldCheckForID = false;
@@ -429,7 +429,7 @@ void loadCrazyflieContext() {
}
else
{
- ROS_ERROR("[PPS CLIENT] Failed to load context. Waiting for next Save in DB by teacher");
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to load context. Waiting for next Save in DB by teacher");
}
}
@@ -448,42 +448,42 @@ void commandCallback(const IntWithHeader & msg) {
switch(cmd) {
case CMD_USE_SAFE_CONTROLLER:
- ROS_INFO("[PPS CLIENT] USE_SAFE_CONTROLLER Command received");
+ ROS_INFO("[FLYING AGENT CLIENT] USE_SAFE_CONTROLLER Command received");
setControllerUsed(SAFE_CONTROLLER);
break;
case CMD_USE_DEMO_CONTROLLER:
- ROS_INFO("[PPS CLIENT] USE_DEMO_CONTROLLER Command received");
+ ROS_INFO("[FLYING AGENT CLIENT] USE_DEMO_CONTROLLER Command received");
setControllerUsed(DEMO_CONTROLLER);
break;
case CMD_USE_STUDENT_CONTROLLER:
- ROS_INFO("[PPS CLIENT] USE_STUDENT_CONTROLLER Command received");
+ ROS_INFO("[FLYING AGENT CLIENT] USE_STUDENT_CONTROLLER Command received");
setControllerUsed(STUDENT_CONTROLLER);
break;
case CMD_USE_MPC_CONTROLLER:
- ROS_INFO("[PPS CLIENT] USE_MPC_CONTROLLER Command received");
+ ROS_INFO("[FLYING AGENT CLIENT] USE_MPC_CONTROLLER Command received");
setControllerUsed(MPC_CONTROLLER);
break;
case CMD_USE_REMOTE_CONTROLLER:
- ROS_INFO("[PPS CLIENT] USE_REMOTE_CONTROLLER Command received");
+ ROS_INFO("[FLYING AGENT CLIENT] USE_REMOTE_CONTROLLER Command received");
setControllerUsed(REMOTE_CONTROLLER);
break;
case CMD_USE_TUNING_CONTROLLER:
- ROS_INFO("[PPS CLIENT] USE_TUNING_CONTROLLER Command received");
+ ROS_INFO("[FLYING AGENT CLIENT] USE_TUNING_CONTROLLER Command received");
setControllerUsed(TUNING_CONTROLLER);
break;
case CMD_USE_PICKER_CONTROLLER:
- ROS_INFO("[PPS CLIENT] USE_PICKER_CONTROLLER Command received");
+ ROS_INFO("[FLYING AGENT CLIENT] USE_PICKER_CONTROLLER Command received");
setControllerUsed(PICKER_CONTROLLER);
break;
case CMD_CRAZYFLY_TAKE_OFF:
- ROS_INFO("[PPS CLIENT] TAKE_OFF Command received");
+ ROS_INFO("[FLYING AGENT CLIENT] TAKE_OFF Command received");
if(flying_state == STATE_MOTORS_OFF)
{
changeFlyingStateTo(STATE_TAKE_OFF);
@@ -491,19 +491,19 @@ void commandCallback(const IntWithHeader & msg) {
break;
case CMD_CRAZYFLY_LAND:
- ROS_INFO("[PPS CLIENT] LAND Command received");
+ ROS_INFO("[FLYING AGENT CLIENT] LAND Command received");
if(flying_state != STATE_MOTORS_OFF)
{
changeFlyingStateTo(STATE_LAND);
}
break;
case CMD_CRAZYFLY_MOTORS_OFF:
- ROS_INFO("[PPS CLIENT] MOTORS_OFF Command received");
+ ROS_INFO("[FLYING AGENT CLIENT] MOTORS_OFF Command received");
changeFlyingStateTo(STATE_MOTORS_OFF);
break;
default:
- ROS_ERROR_STREAM("[PPS CLIENT] unexpected command number: " << cmd);
+ ROS_ERROR_STREAM("[FLYING AGENT CLIENT] unexpected command number: " << cmd);
break;
}
}
@@ -511,13 +511,13 @@ void commandCallback(const IntWithHeader & msg) {
void crazyflieContextDatabaseChangedCallback(const std_msgs::Int32& msg)
{
- ROS_INFO("[PPS CLIENT] Received message that the Context Database Changed");
+ ROS_INFO("[FLYING AGENT CLIENT] Received message that the Context Database Changed");
loadCrazyflieContext();
}
void emergencyStopCallback(const IntWithHeader & msg)
{
- ROS_INFO("[PPS CLIENT] Received message to EMERGENCY STOP");
+ ROS_INFO("[FLYING AGENT CLIENT] Received message to EMERGENCY STOP");
commandCallback(msg);
}
@@ -528,7 +528,7 @@ void emergencyStopCallback(const IntWithHeader & msg)
void crazyRadioStatusCallback(const std_msgs::Int32& msg)
{
- ROS_INFO_STREAM("[PPS CLIENT] Received message with Crazy Radio Status = " << msg.data );
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] Received message with Crazy Radio Status = " << msg.data );
crazyradio_status = msg.data;
// RESET THE BATTERY STATE IF DISCONNECTED
//if (crazyradio_status == CRAZY_RADIO_STATE_DISCONNECTED)
@@ -597,13 +597,13 @@ void loadSafeController() {
std::string safeControllerName;
if(!nodeHandle.getParam("safeController", safeControllerName)) {
- ROS_ERROR("[PPS CLIENT] Failed to get safe controller name");
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to get safe controller name");
return;
}
ros::service::waitForService(safeControllerName);
safeController = ros::service::createClient<Controller>(safeControllerName, true);
- ROS_INFO_STREAM("[PPS CLIENT] loaded safe controller: " << safeController.getService());
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] loaded safe controller: " << safeController.getService());
}
void loadDemoController()
@@ -615,12 +615,12 @@ void loadDemoController()
std::string demoControllerName;
if(!nodeHandle.getParam("demoController", demoControllerName))
{
- ROS_ERROR("[PPS CLIENT] Failed to get demo controller name");
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to get demo controller name");
return;
}
demoController = ros::service::createClient<Controller>(demoControllerName, true);
- ROS_INFO_STREAM("[PPS CLIENT] Loaded demo controller " << demoController.getService());
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] Loaded demo controller " << demoController.getService());
}
void loadStudentController()
@@ -632,12 +632,12 @@ void loadStudentController()
std::string studentControllerName;
if(!nodeHandle.getParam("studentController", studentControllerName))
{
- ROS_ERROR("[PPS CLIENT] Failed to get student controller name");
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to get student controller name");
return;
}
studentController = ros::service::createClient<Controller>(studentControllerName, true);
- ROS_INFO_STREAM("[PPS CLIENT] Loaded student controller " << studentController.getService());
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] Loaded student controller " << studentController.getService());
}
void loadMpcController()
@@ -649,12 +649,12 @@ void loadMpcController()
std::string mpcControllerName;
if(!nodeHandle.getParam("mpcController", mpcControllerName))
{
- ROS_ERROR("[PPS CLIENT] Failed to get mpc controller name");
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to get mpc controller name");
return;
}
mpcController = ros::service::createClient<Controller>(mpcControllerName, true);
- ROS_INFO_STREAM("[PPS CLIENT] Loaded mpc controller " << mpcController.getService());
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] Loaded mpc controller " << mpcController.getService());
}
void loadRemoteController()
@@ -666,12 +666,12 @@ void loadRemoteController()
std::string remoteControllerName;
if(!nodeHandle.getParam("remoteController", remoteControllerName))
{
- ROS_ERROR("[PPS CLIENT] Failed to get remote controller name");
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to get remote controller name");
return;
}
remoteController = ros::service::createClient<Controller>(remoteControllerName, true);
- ROS_INFO_STREAM("[PPS CLIENT] Loaded remote controller " << remoteController.getService());
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] Loaded remote controller " << remoteController.getService());
}
void loadTuningController()
@@ -683,12 +683,12 @@ void loadTuningController()
std::string tuningControllerName;
if(!nodeHandle.getParam("tuningController", tuningControllerName))
{
- ROS_ERROR("[PPS CLIENT] Failed to get tuning controller name");
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to get tuning controller name");
return;
}
tuningController = ros::service::createClient<Controller>(tuningControllerName, true);
- ROS_INFO_STREAM("[PPS CLIENT] Loaded tuning controller " << tuningController.getService());
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] Loaded tuning controller " << tuningController.getService());
}
void loadPickerController()
@@ -700,12 +700,12 @@ void loadPickerController()
std::string pickerControllerName;
if(!nodeHandle.getParam("pickerController", pickerControllerName))
{
- ROS_ERROR("[PPS CLIENT] Failed to get picker controller name");
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to get picker controller name");
return;
}
pickerController = ros::service::createClient<Controller>(pickerControllerName, true);
- ROS_INFO_STREAM("[PPS CLIENT] Loaded picker controller " << pickerController.getService());
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] Loaded picker controller " << pickerController.getService());
}
void sendMessageUsingController(int controller)
@@ -793,21 +793,21 @@ void batteryMonitorStateChangedCallback(std_msgs::Int32 msg)
{
if (flying_state != STATE_MOTORS_OFF)
{
- ROS_INFO("[PPS CLIENT] low level battery triggered, now landing.");
+ ROS_INFO("[FLYING AGENT CLIENT] low level battery triggered, now landing.");
changeFlyingStateTo(STATE_LAND);
}
else
{
- ROS_INFO("[PPS CLIENT] low level battery triggered, please turn off the Crazyflie.");
+ ROS_INFO("[FLYING AGENT CLIENT] low level battery triggered, please turn off the Crazyflie.");
}
}
else if (new_battery_state == BATTERY_STATE_NORMAL)
{
- ROS_INFO("[PPS CLIENT] received message that battery state changed to normal");
+ ROS_INFO("[FLYING AGENT CLIENT] received message that battery state changed to normal");
}
else
{
- ROS_INFO("[PPS CLIENT] received message that battery state changed to something unknown");
+ ROS_INFO("[FLYING AGENT CLIENT] received message that battery state changed to something unknown");
}
}
@@ -827,16 +827,16 @@ void setBatteryStateTo(int new_battery_state)
{
case BATTERY_STATE_NORMAL:
m_battery_state = BATTERY_STATE_NORMAL;
- ROS_INFO("[PPS CLIENT] changed battery state to normal");
+ ROS_INFO("[FLYING AGENT CLIENT] changed battery state to normal");
break;
case BATTERY_STATE_LOW:
m_battery_state = BATTERY_STATE_LOW;
- ROS_INFO("[PPS CLIENT] changed battery state to low");
+ ROS_INFO("[FLYING AGENT CLIENT] changed battery state to low");
if(flying_state != STATE_MOTORS_OFF)
changeFlyingStateTo(STATE_LAND);
break;
default:
- ROS_INFO("[PPS CLIENT] Unknown battery state command, set to normal");
+ ROS_INFO("[FLYING AGENT CLIENT] Unknown battery state command, set to normal");
m_battery_state = BATTERY_STATE_NORMAL;
break;
}
@@ -889,7 +889,7 @@ void CFBatteryCallback(const std_msgs::Float32& msg)
if(getBatteryState() != BATTERY_STATE_LOW)
{
setBatteryStateTo(BATTERY_STATE_LOW);
- ROS_INFO("[PPS CLIENT] low level battery triggered");
+ ROS_INFO("[FLYING AGENT CLIENT] low level battery triggered");
}
}
@@ -977,21 +977,21 @@ void isReadySafeControllerYamlCallback(const IntWithHeader & msg)
// > FOR FETCHING FROM THE AGENT'S OWN PARAMETER SERVICE
case LOAD_YAML_FROM_AGENT:
{
- ROS_INFO("[PPS CLIENT] Now fetching the SafeController YAML parameter values from this agent.");
+ ROS_INFO("[FLYING AGENT CLIENT] Now fetching the SafeController YAML parameter values from this agent.");
namespace_to_use = m_namespace_to_own_agent_parameter_service;
break;
}
// > FOR FETCHING FROM THE COORDINATOR'S PARAMETER SERVICE
case LOAD_YAML_FROM_COORDINATOR:
{
- ROS_INFO("[PPS CLIENT] Now fetching the SafeController YAML parameter values from this agent's coordinator.");
+ ROS_INFO("[FLYING AGENT CLIENT] Now fetching the SafeController YAML parameter values from this agent's coordinator.");
namespace_to_use = m_namespace_to_coordinator_parameter_service;
break;
}
default:
{
- ROS_ERROR("[PPS CLIENT] Paramter service to load from was NOT recognised.");
+ ROS_ERROR("[FLYING AGENT CLIENT] Paramter service to load from was NOT recognised.");
namespace_to_use = m_namespace_to_own_agent_parameter_service;
break;
}
@@ -1024,7 +1024,7 @@ void fetchSafeControllerYamlParameters(ros::NodeHandle& nodeHandle)
getParameterFloatVector(nodeHandle_for_paramaters,"defaultSetpoint",yaml_default_setpoint,4);
// DEBUGGING: Print out one of the parameters that was loaded
- ROS_INFO_STREAM("[PPS CLIENT] DEBUGGING: the fetched SafeController/durationTakeOff = " << yaml_duration_take_off);
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] DEBUGGING: the fetched SafeController/durationTakeOff = " << yaml_duration_take_off);
/*
// Here we load the parameters that are specified in the SafeController.yaml file
@@ -1034,27 +1034,27 @@ void fetchSafeControllerYamlParameters(ros::NodeHandle& nodeHandle)
if(!nodeHandle_for_safeController.getParam("takeOffDistance", take_off_distance))
{
- ROS_ERROR("[PPS CLIENT] Failed to get takeOffDistance");
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to get takeOffDistance");
}
if(!nodeHandle_for_safeController.getParam("landingDistance", landing_distance))
{
- ROS_ERROR("[PPS CLIENT] Failed to get landing_distance");
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to get landing_distance");
}
if(!nodeHandle_for_safeController.getParam("durationTakeOff", duration_take_off))
{
- ROS_ERROR("[PPS CLIENT] Failed to get duration_take_off");
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to get duration_take_off");
}
if(!nodeHandle_for_safeController.getParam("durationLanding", duration_landing))
{
- ROS_ERROR("[PPS CLIENT] Failed to get duration_landing");
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to get duration_landing");
}
if(!nodeHandle_for_safeController.getParam("distanceThreshold", distance_threshold))
{
- ROS_ERROR("[PPS CLIENT] Failed to get distance_threshold");
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to get distance_threshold");
}
*/
}
@@ -1080,21 +1080,21 @@ void isReadyClientConfigYamlCallback(const IntWithHeader & msg)
// > FOR FETCHING FROM THE AGENT'S OWN PARAMETER SERVICE
case LOAD_YAML_FROM_AGENT:
{
- ROS_INFO("[PPS CLIENT] Now fetching the ClientConfig YAML parameter values from this agent.");
+ ROS_INFO("[FLYING AGENT CLIENT] Now fetching the ClientConfig YAML parameter values from this agent.");
namespace_to_use = m_namespace_to_own_agent_parameter_service;
break;
}
// > FOR FETCHING FROM THE COORDINATOR'S PARAMETER SERVICE
case LOAD_YAML_FROM_COORDINATOR:
{
- ROS_INFO("[PPS CLIENT] Now fetching the ClientConfig YAML parameter values from this agent's coordinator.");
+ ROS_INFO("[FLYING AGENT CLIENT] Now fetching the ClientConfig YAML parameter values from this agent's coordinator.");
namespace_to_use = m_namespace_to_coordinator_parameter_service;
break;
}
default:
{
- ROS_ERROR("[PPS CLIENT] Paramter service to load from was NOT recognised.");
+ ROS_ERROR("[FLYING AGENT CLIENT] Paramter service to load from was NOT recognised.");
namespace_to_use = m_namespace_to_own_agent_parameter_service;
break;
}
@@ -1124,26 +1124,26 @@ void fetchClientConfigYamlParameters(ros::NodeHandle& nodeHandle)
// DEBUGGING: Print out one of the parameters that was loaded
- ROS_INFO_STREAM("[PPS CLIENT] DEBUGGING: the fetched ClientConfig/strictSafety = " << yaml_strictSafety);
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] DEBUGGING: the fetched ClientConfig/strictSafety = " << yaml_strictSafety);
/*
if(!nodeHandle.getParam("strictSafety", strictSafety)) {
- ROS_ERROR("[PPS CLIENT] Failed to get strictSafety param");
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to get strictSafety param");
return;
}
if(!nodeHandle.getParam("angleMargin", angleMargin)) {
- ROS_ERROR("[PPS CLIENT] Failed to get angleMargin param");
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to get angleMargin param");
return;
}
if(!nodeHandle.getParam("battery_threshold_while_flying", m_battery_threshold_while_flying)) {
- ROS_ERROR("[PPS CLIENT] Failed to get battery_threshold_while_flying param");
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to get battery_threshold_while_flying param");
return;
}
if(!nodeHandle.getParam("battery_threshold_while_motors_off", m_battery_threshold_while_motors_off)) {
- ROS_ERROR("[PPS CLIENT] Failed to get battery_threshold_while_motors_off param");
+ ROS_ERROR("[FLYING AGENT CLIENT] Failed to get battery_threshold_while_motors_off param");
return;
}
*/
@@ -1164,7 +1164,7 @@ void fetchClientConfigYamlParameters(ros::NodeHandle& nodeHandle)
int main(int argc, char* argv[])
{
// Starting the ROS-node
- ros::init(argc, argv, "PPSClient");
+ ros::init(argc, argv, "FlyingAgentClient");
// Create a "ros::NodeHandle" type local variable named "nodeHandle",
// the "~" indcates that "self" is the node handle assigned.
@@ -1172,24 +1172,24 @@ int main(int argc, char* argv[])
// Get the namespace of this node
std::string m_namespace = ros::this_node::getNamespace();
- ROS_INFO_STREAM("[PPS Client] ros::this_node::getNamespace() = " << m_namespace);
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] ros::this_node::getNamespace() = " << m_namespace);
// AGENT ID AND COORDINATOR ID
// Get the ID of the agent and its coordinator
- bool isValid_IDs = getAgentIDandCoordIDfromClientNode( m_namespace + "/PPSClient" , &m_agentID , &m_coordID);
+ bool isValid_IDs = getAgentIDandCoordIDfromClientNode( m_namespace + "/FlyingAgentClient" , &m_agentID , &m_coordID);
// Stall the node IDs are not valid
if ( !isValid_IDs )
{
- ROS_ERROR("[PPS Client] Node NOT FUNCTIONING :-)");
+ ROS_ERROR("[FLYING AGENT CLIENT] Node NOT FUNCTIONING :-)");
ros::spin();
}
else
{
- ROS_INFO_STREAM("[PPS Client] loaded agentID = " << m_agentID << ", and coordID = " << m_coordID);
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] loaded agentID = " << m_agentID << ", and coordID = " << m_coordID);
}
@@ -1205,8 +1205,8 @@ int main(int argc, char* argv[])
constructNamespaceForCoordinatorParameterService( m_coordID, m_namespace_to_coordinator_parameter_service );
// Inform the user of what namespaces are being used
- ROS_INFO_STREAM("[PPS Client] m_namespace_to_own_agent_parameter_service = " << m_namespace_to_own_agent_parameter_service);
- ROS_INFO_STREAM("[PPS Client] m_namespace_to_coordinator_parameter_service = " << m_namespace_to_coordinator_parameter_service);
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] m_namespace_to_own_agent_parameter_service = " << m_namespace_to_own_agent_parameter_service);
+ ROS_INFO_STREAM("[FLYING AGENT CLIENT] m_namespace_to_coordinator_parameter_service = " << m_namespace_to_coordinator_parameter_service);
// Create, as local variables, node handles to the parameters services
ros::NodeHandle nodeHandle_to_own_agent_parameter_service(m_namespace_to_own_agent_parameter_service);
@@ -1327,7 +1327,7 @@ int main(int argc, char* argv[])
//ros::Publishers to advertise the control output
controlCommandPublisher = nodeHandle.advertise <ControlCommand>("ControlCommand", 1);
- //this topic lets the PPSClient listen to the terminal commands
+ //this topic lets the FlyingAgentClient listen to the terminal commands
//commandPublisher = nodeHandle.advertise<std_msgs::Int32>("Command", 1);
@@ -1337,7 +1337,7 @@ int main(int argc, char* argv[])
// > for the agent GUI
ros::Subscriber commandSubscriber_to_agent = nodeHandle.subscribe("Command", 1, commandCallback);
// > for the coord GUI
- ros::Subscriber commandSubscriber_to_coord = nodeHandle_to_coordinator.subscribe("PPSClient/Command", 1, commandCallback);
+ ros::Subscriber commandSubscriber_to_coord = nodeHandle_to_coordinator.subscribe("FlyingAgentClient/Command", 1, commandCallback);
@@ -1423,7 +1423,7 @@ int main(int argc, char* argv[])
// std::string package_path;
// package_path = ros::package::getPath("dfall_pkg") + "/";
// ROS_INFO_STREAM(package_path);
- // std::string record_file = package_path + "LoggingPPSClient.bag";
+ // std::string record_file = package_path + "LoggingFlyingAgentClient.bag";
// bag.open(record_file, rosbag::bagmode::Write);
ros::spin();
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/MpcControllerService.cpp b/dfall_ws/src/dfall_pkg/src/nodes/MpcControllerService.cpp
index 5aa78721..216676d5 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/MpcControllerService.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/MpcControllerService.cpp
@@ -317,7 +317,7 @@ void performEstimatorUpdate_forStateInterial_viaPointMassKalmanFilter(float (&st
// IMPORTANT NOTES FOR "onboardControllerType" AND AXIS CONVENTIONS
// > The allowed values for "onboardControllerType" are in the "Defines" section at the
// top of this file, they are MOTOR_MODE, RATE_MODE, OR ANGLE_MODE.
-// > In the PPS exercise we will only use the RATE_MODE.
+// > In the classroom exercise we will only use the RATE_MODE.
// > In RATE_MODE the ".roll", ".ptich", and ".yaw" properties of "response.ControlCommand"
// specify the angular rate in [radians/second] that will be requested from the
// PID controllers running in the Crazyflie 2.0 firmware.
@@ -361,7 +361,7 @@ void performEstimatorUpdate_forStateInterial_viaPointMassKalmanFilter(float (&st
//
//
//
-// This function WILL NEED TO BE edited for successful completion of the PPS exercise
+// This function WILL NEED TO BE edited for successful completion of the classroom exercise
void angleControlledCrazyflie(float stateInertial[12], float input_angle[4], int Ts_div, Controller::Response &response)
{
@@ -599,7 +599,7 @@ void performEstimatorUpdate_forStateInterial_viaPointMassKalmanFilter(float (&st
// CCCC OOO N N V EEEEE R R SSSS III OOO N N
// ----------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
float computeMotorPolyBackward(float thrust)
{
return (-motorPoly[1] + sqrt(motorPoly[1] * motorPoly[1] - 4 * motorPoly[2] * (motorPoly[0] - thrust))) / (2 * motorPoly[2]);
@@ -623,7 +623,7 @@ float computeMotorPolyBackward(float thrust)
// GGGG UUU III CCCC A A LLLLL LLLLL BBBB A A CCCC K K
// ----------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
void setpointCallback(const Setpoint& newSetpoint)
{
setpoint[0] = newSetpoint.x;
@@ -650,7 +650,7 @@ void setpointCallback(const Setpoint& newSetpoint)
// ----------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
{
// Extract from the "msg" for which controller the and from where to fetch the YAML
@@ -696,7 +696,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
}
-// This function CAN BE edited for successful completion of the PPS exercise, and the
+// This function CAN BE edited for successful completion of the classroom exercise, and the
// use of parameters fetched from the YAML file is highly recommended to make tuning of
// your controller easier and quicker.
void fetchYamlParameters(ros::NodeHandle& nodeHandle)
@@ -746,7 +746,7 @@ void fetchYamlParameters(ros::NodeHandle& nodeHandle)
}
-// This function CAN BE edited for successful completion of the PPS exercise, and the
+// This function CAN BE edited for successful completion of the classroom exercise, and the
// use of parameters loaded from the YAML file is highly recommended to make tuning of
// your controller easier and quicker.
void processFetchedParameters()
@@ -769,7 +769,7 @@ void processFetchedParameters()
// ----------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
float getParameterFloat(ros::NodeHandle& nodeHandle, std::string name)
{
float val;
@@ -779,7 +779,7 @@ float getParameterFloat(ros::NodeHandle& nodeHandle, std::string name)
}
return val;
}
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
void getParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std::vector<float>& val, int length)
{
if(!nodeHandle.getParam(name, val)){
@@ -789,7 +789,7 @@ void getParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std:
ROS_ERROR_STREAM("parameter '" << name << "' has wrong array length, " << length << " needed");
}
}
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
int getParameterInt(ros::NodeHandle& nodeHandle, std::string name)
{
int val;
@@ -799,7 +799,7 @@ int getParameterInt(ros::NodeHandle& nodeHandle, std::string name)
}
return val;
}
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
void getParameterIntVectorWithKnownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val, int length)
{
if(!nodeHandle.getParam(name, val)){
@@ -809,7 +809,7 @@ void getParameterIntVectorWithKnownLength(ros::NodeHandle& nodeHandle, std::stri
ROS_ERROR_STREAM("parameter '" << name << "' has wrong array length, " << length << " needed");
}
}
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
int getParameterIntVectorWithUnknownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val)
{
if(!nodeHandle.getParam(name, val)){
@@ -817,7 +817,7 @@ int getParameterIntVectorWithUnknownLength(ros::NodeHandle& nodeHandle, std::str
}
return val.size();
}
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
bool getParameterBool(ros::NodeHandle& nodeHandle, std::string name)
{
bool val;
@@ -841,7 +841,7 @@ bool getParameterBool(ros::NodeHandle& nodeHandle, std::string name)
// M M A A III N N
// ----------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
int main(int argc, char* argv[]) {
// Starting the ROS-node
@@ -860,16 +860,16 @@ int main(int argc, char* argv[]) {
// > If you look at the "Student.launch" file in the "launch" folder, you will see
// the following line of code:
// <param name="studentID" value="$(optenv ROS_NAMESPACE)" />
- // This line of code adds a parameter named "studentID" to the "PPSClient"
+ // This line of code adds a parameter named "studentID" to the "FlyingAgentClient"
// > Thus, to get access to this "studentID" paremeter, we first need to get a handle
- // to the "PPSClient" node within which this controller service is nested.
- // Get the handle to the "PPSClient" node
- ros::NodeHandle PPSClient_nodeHandle(m_namespace + "/PPSClient");
+ // to the "FlyingAgentClient" node within which this controller service is nested.
+ // Get the handle to the "FlyingAgentClient" node
+ ros::NodeHandle FlyingAgentClient_nodeHandle(m_namespace + "/FlyingAgentClient");
// Get the value of the "studentID" parameter into the instance variable "my_agentID"
- if(!PPSClient_nodeHandle.getParam("agentID", my_agentID))
+ if(!FlyingAgentClient_nodeHandle.getParam("agentID", my_agentID))
{
// Throw an error if the student ID parameter could not be obtained
- ROS_ERROR("[MPC CONTROLLER] Failed to get agentID from PPSClient");
+ ROS_ERROR("[MPC CONTROLLER] Failed to get agentID from FlyingAgentClient");
}
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/PickerControllerService.cpp b/dfall_ws/src/dfall_pkg/src/nodes/PickerControllerService.cpp
index f814b8d0..59a38b1c 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/PickerControllerService.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/PickerControllerService.cpp
@@ -626,7 +626,7 @@ void smoothSetpointChanges()
//
//
//
-// This function WILL NEED TO BE edited for successful completion of the PPS exercise
+// This function WILL NEED TO BE edited for successful completion of the classroom exercise
bool calculateControlOutput(Controller::Request &request, Controller::Response &response)
{
@@ -1086,7 +1086,7 @@ void convert_stateInertial_to_bodyFrameError(float stateInertial[12], float setp
// > Note: the function "convertIntoBodyFrame" is implemented in this file
// and by default does not perform any conversion. The equations to convert
// the state error into the body frame should be implemented in that function
- // for successful completion of the PPS exercise
+ // for successful completion of the classroom exercise
convertIntoBodyFrame(stateInertial, bodyFrameError, temp_stateInertial_yaw);
}
@@ -1107,7 +1107,7 @@ void convert_stateInertial_to_bodyFrameError(float stateInertial[12], float setp
// CCCC OOO N N V EEEEE R R SSSS III OOO N N
// ------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
float computeMotorPolyBackward(float thrust)
{
// Compute the 16-bit command signal that generates the "thrust" force
@@ -1296,7 +1296,7 @@ bool getCurrentSetpointCallback(GetSetpointService::Request &request, GetSetpoin
-// // This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// // This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
// void setpointCallback(const Setpoint& newSetpoint)
// {
// m_setpoint[0] = newSetpoint.x;
@@ -1642,7 +1642,7 @@ void fetchPickerControllerYamlParameters(ros::NodeHandle& nodeHandle)
// ----------------------------------------------------------------------------------
-// // This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// // This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
// float getParameterFloat(ros::NodeHandle& nodeHandle, std::string name)
// {
// float val;
@@ -1652,7 +1652,7 @@ void fetchPickerControllerYamlParameters(ros::NodeHandle& nodeHandle)
// }
// return val;
// }
-// // This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// // This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
// void getParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std::vector<float>& val, int length)
// {
// if(!nodeHandle.getParam(name, val)){
@@ -1662,7 +1662,7 @@ void fetchPickerControllerYamlParameters(ros::NodeHandle& nodeHandle)
// ROS_ERROR_STREAM("parameter '" << name << "' has wrong array length, " << length << " needed");
// }
// }
-// // This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// // This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
// int getParameterInt(ros::NodeHandle& nodeHandle, std::string name)
// {
// int val;
@@ -1672,7 +1672,7 @@ void fetchPickerControllerYamlParameters(ros::NodeHandle& nodeHandle)
// }
// return val;
// }
-// // This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// // This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
// void getParameterIntVectorWithKnownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val, int length)
// {
// if(!nodeHandle.getParam(name, val)){
@@ -1682,7 +1682,7 @@ void fetchPickerControllerYamlParameters(ros::NodeHandle& nodeHandle)
// ROS_ERROR_STREAM("parameter '" << name << "' has wrong array length, " << length << " needed");
// }
// }
-// // This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// // This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
// int getParameterIntVectorWithUnknownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val)
// {
// if(!nodeHandle.getParam(name, val)){
@@ -1690,7 +1690,7 @@ void fetchPickerControllerYamlParameters(ros::NodeHandle& nodeHandle)
// }
// return val.size();
// }
-// // This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// // This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
// bool getParameterBool(ros::NodeHandle& nodeHandle, std::string name)
// {
// bool val;
@@ -1714,7 +1714,7 @@ void fetchPickerControllerYamlParameters(ros::NodeHandle& nodeHandle)
// M M A A III N N
// ----------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
int main(int argc, char* argv[]) {
// Starting the ROS-node
@@ -1738,14 +1738,14 @@ int main(int argc, char* argv[]) {
// you will see the following line of code:
// <param name="agentID" value="$(optenv ROS_NAMESPACE)" />
// This line of code adds a parameter named "agentID" to the
- // "PPSClient" node.
+ // "FlyingAgentClient" node.
// > Thus, to get access to this "studentID" paremeter, we first
- // need to get a handle to the "PPSClient" node within which this
+ // need to get a handle to the "FlyingAgentClient" node within which this
// controller service is nested.
// Get the ID of the agent and its coordinator
- bool isValid_IDs = getAgentIDandCoordIDfromClientNode( m_namespace + "/PPSClient" , &m_agentID , &m_coordID);
+ bool isValid_IDs = getAgentIDandCoordIDfromClientNode( m_namespace + "/FlyingAgentClient" , &m_agentID , &m_coordID);
// Stall the node IDs are not valid
if ( !isValid_IDs )
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/RemoteControllerService.cpp b/dfall_ws/src/dfall_pkg/src/nodes/RemoteControllerService.cpp
index 2ae0b709..93f7d6cc 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/RemoteControllerService.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/RemoteControllerService.cpp
@@ -115,7 +115,7 @@
// IMPORTANT NOTES FOR "onboardControllerType" AND AXIS CONVENTIONS
// > The allowed values for "onboardControllerType" are in the "Defines" section at the
// top of this file, they are MOTOR_MODE, RATE_MODE, OR ANGLE_MODE.
-// > In the PPS exercise we will only use the RATE_MODE.
+// > In the classroom exercise we will only use the RATE_MODE.
// > In RATE_MODE the ".roll", ".ptich", and ".yaw" properties of "response.ControlCommand"
// specify the angular rate in [radians/second] that will be requested from the
// PID controllers running in the Crazyflie 2.0 firmware.
@@ -159,7 +159,7 @@
//
//
//
-// This function WILL NEED TO BE edited for successful completion of the PPS exercise
+// This function WILL NEED TO BE edited for successful completion of the classroom exercise
@@ -1089,7 +1089,7 @@ void convert_stateInertial_to_bodyFrameError(float stateInertial[12], float setp
// > Note: the function "convertIntoBodyFrame" is implemented in this file
// and by default does not perform any conversion. The equations to convert
// the state error into the body frame should be implemented in that function
- // for successful completion of the PPS exercise
+ // for successful completion of the classroom exercise
convertIntoBodyFrame(stateInertial, bodyFrameError, temp_stateInertial_yaw);
}
@@ -1110,7 +1110,7 @@ void convert_stateInertial_to_bodyFrameError(float stateInertial[12], float setp
// CCCC OOO N N V EEEEE R R SSSS III OOO N N
// ------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
float computeMotorPolyBackward(float thrust)
{
// Compute the 16-bit command signal that generates the "thrust" force
@@ -1146,7 +1146,7 @@ float computeMotorPolyBackward(float thrust)
// GGGG UUU III CCCC A A LLLLL LLLLL BBBB A A CCCC K K
// ----------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
void setpointCallback(const Setpoint& newSetpoint)
{
setpoint[0] = newSetpoint.x;
@@ -1211,7 +1211,7 @@ void setpointCallback(const Setpoint& newSetpoint)
// ----------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
{
// Extract from the "msg" for which controller the and from where to fetch the YAML
@@ -1257,7 +1257,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
}
-// This function CAN BE edited for successful completion of the PPS exercise, and the
+// This function CAN BE edited for successful completion of the classroom exercise, and the
// use of parameters fetched from the YAML file is highly recommended to make tuning of
// your controller easier and quicker.
void fetchYamlParameters(ros::NodeHandle& nodeHandle)
@@ -1385,7 +1385,7 @@ void fetchYamlParameters(ros::NodeHandle& nodeHandle)
}
-// This function CAN BE edited for successful completion of the PPS exercise, and the
+// This function CAN BE edited for successful completion of the classroom exercise, and the
// use of parameters loaded from the YAML file is highly recommended to make tuning of
// your controller easier and quicker.
void processFetchedParameters()
@@ -1426,7 +1426,7 @@ void processFetchedParameters()
// ----------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
float getParameterFloat(ros::NodeHandle& nodeHandle, std::string name)
{
float val;
@@ -1436,7 +1436,7 @@ float getParameterFloat(ros::NodeHandle& nodeHandle, std::string name)
}
return val;
}
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
void getParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std::vector<float>& val, int length)
{
if(!nodeHandle.getParam(name, val)){
@@ -1446,7 +1446,7 @@ void getParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std:
ROS_ERROR_STREAM("parameter '" << name << "' has wrong array length, " << length << " needed");
}
}
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
int getParameterInt(ros::NodeHandle& nodeHandle, std::string name)
{
int val;
@@ -1456,7 +1456,7 @@ int getParameterInt(ros::NodeHandle& nodeHandle, std::string name)
}
return val;
}
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
void getParameterIntVectorWithKnownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val, int length)
{
if(!nodeHandle.getParam(name, val)){
@@ -1466,7 +1466,7 @@ void getParameterIntVectorWithKnownLength(ros::NodeHandle& nodeHandle, std::stri
ROS_ERROR_STREAM("parameter '" << name << "' has wrong array length, " << length << " needed");
}
}
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
int getParameterIntVectorWithUnknownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val)
{
if(!nodeHandle.getParam(name, val)){
@@ -1474,7 +1474,7 @@ int getParameterIntVectorWithUnknownLength(ros::NodeHandle& nodeHandle, std::str
}
return val.size();
}
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
bool getParameterBool(ros::NodeHandle& nodeHandle, std::string name)
{
bool val;
@@ -1484,7 +1484,7 @@ bool getParameterBool(ros::NodeHandle& nodeHandle, std::string name)
}
return val;
}
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
std::string getParameterString(ros::NodeHandle& nodeHandle, std::string name)
{
std::string val;
@@ -1506,7 +1506,7 @@ std::string getParameterString(ros::NodeHandle& nodeHandle, std::string name)
// M M A A III N N
// ----------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
int main(int argc, char* argv[]) {
// Starting the ROS-node
@@ -1526,16 +1526,16 @@ int main(int argc, char* argv[]) {
// > If you look at the "Student.launch" file in the "launch" folder, you will see
// the following line of code:
// <param name="studentID" value="$(optenv ROS_NAMESPACE)" />
- // This line of code adds a parameter named "studentID" to the "PPSClient"
+ // This line of code adds a parameter named "studentID" to the "FlyingAgentClient"
// > Thus, to get access to this "studentID" paremeter, we first need to get a handle
- // to the "PPSClient" node within which this controller service is nested.
- // Get the handle to the "PPSClient" node
- ros::NodeHandle PPSClient_nodeHandle(m_namespace + "/PPSClient");
+ // to the "FlyingAgentClient" node within which this controller service is nested.
+ // Get the handle to the "FlyingAgentClient" node
+ ros::NodeHandle FlyingAgentClient_nodeHandle(m_namespace + "/FlyingAgentClient");
// Get the value of the "studentID" parameter into the instance variable "my_agentID"
- if(!PPSClient_nodeHandle.getParam("agentID", my_agentID))
+ if(!FlyingAgentClient_nodeHandle.getParam("agentID", my_agentID))
{
// Throw an error if the student ID parameter could not be obtained
- ROS_ERROR("[REMOTE CONTROLLER] Failed to get agentID from PPSClient");
+ ROS_ERROR("[REMOTE CONTROLLER] Failed to get agentID from FlyingAgentClient");
}
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/SafeControllerService.cpp b/dfall_ws/src/dfall_pkg/src/nodes/SafeControllerService.cpp
index 968ecc3a..d1934a0f 100755
--- a/dfall_ws/src/dfall_pkg/src/nodes/SafeControllerService.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/SafeControllerService.cpp
@@ -232,7 +232,7 @@ void estimateState(Controller::Request &request, float (&est)[9])
// ----------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
{
// Extract from the "msg" for which controller the and from where to fetch the YAML
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/StudentControllerService.cpp b/dfall_ws/src/dfall_pkg/src/nodes/StudentControllerService.cpp
index 67ac27e2..f7d7eb78 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/StudentControllerService.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/StudentControllerService.cpp
@@ -170,7 +170,7 @@
//
//
//
-// This function WILL NEED TO BE edited for successful completion of the PPS exercise
+// This function WILL NEED TO BE edited for successful completion of the classroom exercise
bool calculateControlOutput(Controller::Request &request, Controller::Response &response)
{
@@ -214,7 +214,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
// > Note: the function "convertIntoBodyFrame" is implemented in this file
// and by default does not perform any conversion. The equations to convert
// the state error into the body frame should be implemented in that function
- // for successful completion of the PPS exercise
+ // for successful completion of the classroom exercise
float stateErrorBody[9];
convertIntoBodyFrame(stateErrorInertial, stateErrorBody, request.ownCrazyflie.yaw);
@@ -464,7 +464,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
// This is the yaw component of the intrinsic Euler angles in [radians] as measured by
// the Vicon motion capture system
//
-// This function WILL NEED TO BE edited for successful completion of the PPS exercise
+// This function WILL NEED TO BE edited for successful completion of the classroom exercise
void convertIntoBodyFrame(float stateInertial[9], float (&stateBody)[9], float yaw_measured)
{
// Fill in the (x,y,z) position estimates to be returned
@@ -847,14 +847,14 @@ int main(int argc, char* argv[]) {
// you will see the following line of code:
// <param name="agentID" value="$(optenv ROS_NAMESPACE)" />
// This line of code adds a parameter named "agentID" to the
- // "PPSClient" node.
+ // "FlyingAgentClient" node.
// > Thus, to get access to this "agentID" paremeter, we first
- // need to get a handle to the "PPSClient" node within which this
+ // need to get a handle to the "FlyingAgentClient" node within which this
// controller service is nested.
// Get the ID of the agent and its coordinator
- bool isValid_IDs = getAgentIDandCoordIDfromClientNode( m_namespace + "/PPSClient" , &m_agentID , &m_coordID);
+ bool isValid_IDs = getAgentIDandCoordIDfromClientNode( m_namespace + "/FlyingAgentClient" , &m_agentID , &m_coordID);
// Stall the node IDs are not valid
if ( !isValid_IDs )
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/TuningControllerService.cpp b/dfall_ws/src/dfall_pkg/src/nodes/TuningControllerService.cpp
index d62e2260..e20ab24b 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/TuningControllerService.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/TuningControllerService.cpp
@@ -115,7 +115,7 @@
// IMPORTANT NOTES FOR "onboardControllerType" AND AXIS CONVENTIONS
// > The allowed values for "onboardControllerType" are in the "Defines" section at the
// top of this file, they are MOTOR_MODE, RATE_MODE, OR ANGLE_MODE.
-// > In the PPS exercise we will only use the RATE_MODE.
+// > In the classroom exercise we will only use the RATE_MODE.
// > In RATE_MODE the ".roll", ".ptich", and ".yaw" properties of "response.ControlCommand"
// specify the angular rate in [radians/second] that will be requested from the
// PID controllers running in the Crazyflie 2.0 firmware.
@@ -159,7 +159,7 @@
//
//
//
-// This function WILL NEED TO BE edited for successful completion of the PPS exercise
+// This function WILL NEED TO BE edited for successful completion of the classroom exercise
@@ -1197,7 +1197,7 @@ void convert_stateInertial_to_bodyFrameError(float stateInertial[12], float setp
// > Note: the function "convertIntoBodyFrame" is implemented in this file
// and by default does not perform any conversion. The equations to convert
// the state error into the body frame should be implemented in that function
- // for successful completion of the PPS exercise
+ // for successful completion of the classroom exercise
convertIntoBodyFrame(stateInertial, bodyFrameError, temp_stateInertial_yaw);
}
@@ -1218,7 +1218,7 @@ void convert_stateInertial_to_bodyFrameError(float stateInertial[12], float setp
// CCCC OOO N N V EEEEE R R SSSS III OOO N N
// ------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
float computeMotorPolyBackward(float thrust)
{
// Compute the 16-bit command signal that generates the "thrust" force
@@ -1254,7 +1254,7 @@ float computeMotorPolyBackward(float thrust)
// GGGG UUU III CCCC A A LLLLL LLLLL BBBB A A CCCC K K
// ----------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
// void setpointCallback(const Setpoint& newSetpoint)
// {
// setpoint[0] = newSetpoint.x;
@@ -1402,7 +1402,7 @@ void isReadyTuningControllerYamlCallback(const IntWithHeader & msg)
}
-// This function CAN BE edited for successful completion of the PPS exercise, and the
+// This function CAN BE edited for successful completion of the classroom exercise, and the
// use of parameters fetched from the YAML file is highly recommended to make tuning of
// your controller easier and quicker.
void fetchTuningControllerYamlParameters(ros::NodeHandle& nodeHandle)
@@ -1564,7 +1564,7 @@ void fetchTuningControllerYamlParameters(ros::NodeHandle& nodeHandle)
// M M A A III N N
// ----------------------------------------------------------------------------------
-// This function DOES NOT NEED TO BE edited for successful completion of the PPS exercise
+// This function DOES NOT NEED TO BE edited for successful completion of the classroom exercise
int main(int argc, char* argv[]) {
// Starting the ROS-node
@@ -1586,14 +1586,14 @@ int main(int argc, char* argv[]) {
// you will see the following line of code:
// <param name="agentID" value="$(optenv ROS_NAMESPACE)" />
// This line of code adds a parameter named "agentID" to the
- // "PPSClient" node.
+ // "FlyingAgentClient" node.
// > Thus, to get access to this "agentID" paremeter, we first
- // need to get a handle to the "PPSClient" node within which this
+ // need to get a handle to the "FlyingAgentClient" node within which this
// controller service is nested.
// Get the ID of the agent and its coordinator
- bool isValid_IDs = getAgentIDandCoordIDfromClientNode( m_namespace + "/PPSClient" , &m_agentID , &m_coordID);
+ bool isValid_IDs = getAgentIDandCoordIDfromClientNode( m_namespace + "/FlyingAgentClient" , &m_agentID , &m_coordID);
// Stall the node IDs are not valid
if ( !isValid_IDs )
--
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