renamed messages from xyzControl to xyzCommand

pps_ws/src/d_fall_pps/CMakeLists.txt

@@ -58,9 +58,9 @@ find_package(catkin REQUIRED COMPONENTS
 add_message_files(
   FILES
   ViconData.msg
-  MotorControl.msg
-  AngleControl.msg
-  RateControl.msg
+  MotorCommand.msg
+  AngleCommand.msg
+  RateCommand.msg
   Setpoint.msg
 )
 

pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py

@@ -64,24 +64,20 @@ class PPSRadioClient:
             This callback is executed as soon as the connection to the
             quadrotor is established.
         """
-        #print "Connection to %s successful: " % link_uri
         rospy.loginfo("Connection to %s successful: " % link_uri)
 
     def _connection_failed(self, link_uri, msg):
         """Callback when connection initial connection fails (i.e no Crazyflie
         at the specified address)"""
-        #print "Connection to %s failed: %s" % (link_uri, msg)
         rospy.logerr("Connection to %s failed: %s" % (link_uri, msg))
 
     def _connection_lost(self, link_uri, msg):
         """Callback when disconnected after a connection has been made (i.e
         Crazyflie moves out of range)"""
-        #print "Connection to %s lost: %s" % (link_uri, msg)
         rospy.logerr("Connection to %s lost: %s" % (link_uri, msg))
 
     def _disconnected(self, link_uri):
         """Callback when the Crazyflie is disconnected (called in all cases)"""
-        #print "Disconnected from %s" % link_uri
         rospy.logwarn("Disconnected from %s" % link_uri)
 
     def _send_to_commander(self,roll, pitch, yaw, thrust,cmd1,cmd2,cmd3,cmd4,mode):
@@ -108,12 +104,11 @@ def rateControlCallback(data):
 
 if __name__ == '__main__':
     rospy.init_node('CrazyRadio', anonymous=True)
+    # Initialize the low-level drivers (don't list the debug drivers)
     cflib.crtp.init_drivers(enable_debug_driver=False)
 
     while not rospy.is_shutdown():
 
-        # Initialize the low-level drivers (don't list the debug drivers)
-
         # Scan for Crazyflies and use the first one found
         rospy.loginfo("Scanning interfaces for Crazyflies...")
         available=[]
@@ -127,7 +122,10 @@ if __name__ == '__main__':
             #TODO: load address from parameters
             cf_client = PPSRadioClient(available[0][0])
             time.sleep(3.0)
-            #TODO: register action/subscriber/.. callback
+            #TODO: change publisher name if not correct
+            rospy.Subscriber("PPSClient/MotorCommand", MotorCommand, motorControlCallback)
+            rospy.Subscriber("PPSClient/AngleCommand", AngleCommand, angleControlCallback)
+            rospy.Subscriber("PPSClient/RateCommand", RateCommand, rateControlCallback)
 
             rospy.spin()
         else:

pps_ws/src/d_fall_pps/srv/AngleController.srv

 ViconData crazyflieLocation
 Setpoint setpoint
 ---
-AngleControl controlOutput
+AngleCommand controlOutput

pps_ws/src/d_fall_pps/srv/MotorController.srv

 ViconData crazyflieLocation
 Setpoint setpoint
 ---
-MotorControl controlOutput
+MotorCommand controlOutput

pps_ws/src/d_fall_pps/srv/RateController.srv

 ViconData crazyflieLocation
 Setpoint setpoint
 ---
-RateControl controlOutput
+RateCommand controlOutput