test CF1

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/channelLUT.cpp

@@ -11,7 +11,7 @@ std::map<std::string, std::string> channel_LUT
     {"cfThree", "0/72/2M"},
     {"cfFour", "0/99/2M"},
     {"PPS_CF01", "0/0/2M"},
-    {"PPS_CF02", "0/8/2M"},
+    {"PPS_CF02", "0/8/2M/E7E7E7E702"},
     {"PPS_CF03", "0/16/2M"},
     {"PPS_CF04", "0/24/2M"},
     {"PPS_CF05", "0/32/2M"},

pps_ws/src/d_fall_pps/launch/FollowN_1.launch

+<launch>
+
+	<node pkg="d_fall_pps" name="CrazyRadio" output="screen" type="CrazyRadio.py">
+		<rosparam command="load" file="$(find d_fall_pps)/param/ClientConfig.yaml" />
+	</node>
+
+	<node pkg="d_fall_pps" name="PPSClient" output="screen" type="PPSClient">
+		<rosparam command="load" file="$(find d_fall_pps)/param/ClientConfig.yaml" />
+		<param name="studentID" value="$(optenv ROS_NAMESPACE)" />
+	</node>
+
+	<node pkg="d_fall_pps" name="SafeControllerService" output="screen" type="SafeControllerService">
+		<rosparam command="load" file="$(find d_fall_pps)/param/SafeController.yaml" />
+	</node>
+
+	<node pkg="d_fall_pps" name="FollowN_1Service" output="screen" type="FollowN_1Service">
+		<rosparam command="load" file="$(find d_fall_pps)/param/SafeController.yaml" />
+	</node>
+
+    <!-- When we have a GUI, this has to be adapted and included -->
+	<node pkg="d_fall_pps" name="student_GUI" output="screen" type="student_GUI">
+		<!-- <rosparam command="load" file="$(find d_fall_pps)/launch/ControlParams.yaml" /> -->
+	</node>
+
+
+	<!-- <node pkg="rqt_plot" name="commandplotter" type="rqt_plot" args="/PPSClient/ControlCommand/roll /PPSClient/ControlCommand/pitch /PPSClient/ControlCommand/yaw" /> -->
+
+</launch>

pps_ws/src/d_fall_pps/param/ClientConfig.yaml

 safeController: "SafeControllerService/RateController"
-customController: "FollowN_1ControllerService/FollowController"
+customController: "FollowN_1Service/FollowController"
 strictSafety: true
 angleMargin: 0.6
 

pps_ws/src/d_fall_pps/param/Crazyflie.db

-8,cfOne,0/76/2M/E7E7E7E701,0,-1.6,-1.12,-0.2,0.52,0.96,2
+1,PPS_CF01,0/0/2M,0,-1.11965,0.674688,-0.2,-0.475825,1.29008,2

pps_ws/src/d_fall_pps/src/FollowN_1Service.cpp

@@ -213,7 +213,7 @@ void followCallback(const Setpoint& newSetpoint) {
 
 
 int main(int argc, char* argv[]) {
-    ros::init(argc, argv, "FollowN_1ControllerService");
+    ros::init(argc, argv, "FollowN_1Service");
 
     ros::NodeHandle nodeHandle("~");
     loadParameters(nodeHandle);