Merge branch 'pps_project' of https://gitlab.ethz.ch/D-FaLL/D-FaLL-System into pps_project

pps_ws/src/d_fall_pps/src/CentralManagerService.cpp

@@ -21,19 +21,17 @@
 using namespace d_fall_pps;
 
 
-/*TODO:
-request from paul
-Specificy controller in a file
+//receive request from students (containing (maybe among other things) their name)
+//send them back the CrazyflieContext (containing (maybe among other things) the area to fly in)
+bool returnCrazyflieContext(CentralManager::Request &request, CentralManager::Response &response) {
+    ROS_INFO("central manager");
 
+	return true;
+}
 
 
-*/
 
-bool returnCrazyflieContext(CentralManager::Request &request, CentralManager::Response &response) {
-    ROS_INFO("cnetal manager");
 
-	return true;
-}
 
 int main(int argc, char* argv[]) {
     ros::init(argc, argv, "CentralManagerService");

pps_ws/src/d_fall_pps/src/PPSClient.cpp

@@ -61,19 +61,6 @@ bool safetyCheck(ViconData data){
 //not void: sould give back controlldata
 void ppsClientToController(ViconData data, bool autocontrol){
 	if(data.crazyflieName == cflie){
-		/* unnecessairy: just send data!!!!!
-		d_fall_pps::ViconData myDataToPublish;
-		myDataToPublish.crazyflieName = data.crazyflieName;
-		myDataToPublish.x = data.x;
-		myDataToPublish.y = data.y;
-		myDataToPublish.z = data.z;
-		myDataToPublish.roll = data.roll;
-		myDataToPublish.pitch = data.pitch;
-		myDataToPublish.yaw = data.yaw;
-		myDataToPublish.acquiringTime = data.acquiringTime;
-		*/
-
-
 		//TODO:
 		//Some way of choosing the correct controller: Safe or Custom
 		//using the area data
@@ -116,7 +103,7 @@ void viconCallback(const d_fall_pps::ViconData& data){
 	//debugging
 	//++callbackCalls;
 	//ROS_INFO("Callback called #%d",callbackCalls);
-	//ROS_INFO("Recived Pitch in this callback: %f", data.pitch);
+	//ROS_INFO("Received Pitch in this callback: %f", data.pitch);
 	//ROS_INFO("received data:"); ROS_INFO_STREAM(data);
 	//ROS_INFO("My teamname is:"); ROS_INFO_STREAM(team);
 	//ROS_INFO("My crazyflie is:"); ROS_INFO_STREAM(cflie);
@@ -204,9 +191,9 @@ int main(int argc, char* argv[]){
 	
 	
 	//ros::Publishers to advertise on the three command type topics
-	angleCommandPublisher = nodeHandle.advertise <d_fall_pps::AngleCommand>("AngleCommand", 1000);
-	rateCommandPublisher = nodeHandle.advertise<d_fall_pps::RateCommand>("RateCommand", 1000);
-	motorCommandPublisher = nodeHandle.advertise <d_fall_pps::MotorCommand>("MotorCommand", 1000);
+	angleCommandPublisher = nodeHandle.advertise <d_fall_pps::AngleCommand>("AngleCommand", 1);
+	rateCommandPublisher = nodeHandle.advertise<d_fall_pps::RateCommand>("RateCommand", 1);
+	motorCommandPublisher = nodeHandle.advertise <d_fall_pps::MotorCommand>("MotorCommand", 1);
 
 
 	//service: now only one available: to add several services depending on controller