From 7961567da8ab5b1a930e3018c9561fb6d19eb461 Mon Sep 17 00:00:00 2001
From: bucyril <bucyril@student.ethz.ch>
Date: Thu, 30 Mar 2017 10:46:37 +0200
Subject: [PATCH] renamed messages from xyzControl to xyzCommand
---
pps_ws/src/d_fall_pps/CMakeLists.txt | 6 +++---
pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py | 12 +++++-------
.../msg/{AngleControl.msg => AngleCommand.msg} | 0
.../msg/{MotorControl.msg => MotorCommand.msg} | 0
.../msg/{RateControl.msg => RateCommand.msg} | 0
pps_ws/src/d_fall_pps/srv/AngleController.srv | 2 +-
pps_ws/src/d_fall_pps/srv/MotorController.srv | 2 +-
pps_ws/src/d_fall_pps/srv/RateController.srv | 2 +-
8 files changed, 11 insertions(+), 13 deletions(-)
rename pps_ws/src/d_fall_pps/msg/{AngleControl.msg => AngleCommand.msg} (100%)
rename pps_ws/src/d_fall_pps/msg/{MotorControl.msg => MotorCommand.msg} (100%)
rename pps_ws/src/d_fall_pps/msg/{RateControl.msg => RateCommand.msg} (100%)
diff --git a/pps_ws/src/d_fall_pps/CMakeLists.txt b/pps_ws/src/d_fall_pps/CMakeLists.txt
index 8c96bd4f..0550d2dc 100644
--- a/pps_ws/src/d_fall_pps/CMakeLists.txt
+++ b/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
)
diff --git a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
index ad4ad27a..f05cac2b 100755
--- a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
+++ b/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:
diff --git a/pps_ws/src/d_fall_pps/msg/AngleControl.msg b/pps_ws/src/d_fall_pps/msg/AngleCommand.msg
similarity index 100%
rename from pps_ws/src/d_fall_pps/msg/AngleControl.msg
rename to pps_ws/src/d_fall_pps/msg/AngleCommand.msg
diff --git a/pps_ws/src/d_fall_pps/msg/MotorControl.msg b/pps_ws/src/d_fall_pps/msg/MotorCommand.msg
similarity index 100%
rename from pps_ws/src/d_fall_pps/msg/MotorControl.msg
rename to pps_ws/src/d_fall_pps/msg/MotorCommand.msg
diff --git a/pps_ws/src/d_fall_pps/msg/RateControl.msg b/pps_ws/src/d_fall_pps/msg/RateCommand.msg
similarity index 100%
rename from pps_ws/src/d_fall_pps/msg/RateControl.msg
rename to pps_ws/src/d_fall_pps/msg/RateCommand.msg
diff --git a/pps_ws/src/d_fall_pps/srv/AngleController.srv b/pps_ws/src/d_fall_pps/srv/AngleController.srv
index 7155b47d..8c896c49 100644
--- a/pps_ws/src/d_fall_pps/srv/AngleController.srv
+++ b/pps_ws/src/d_fall_pps/srv/AngleController.srv
@@ -1,4 +1,4 @@
ViconData crazyflieLocation
Setpoint setpoint
---
-AngleControl controlOutput
+AngleCommand controlOutput
diff --git a/pps_ws/src/d_fall_pps/srv/MotorController.srv b/pps_ws/src/d_fall_pps/srv/MotorController.srv
index 73167d62..363b6d3c 100644
--- a/pps_ws/src/d_fall_pps/srv/MotorController.srv
+++ b/pps_ws/src/d_fall_pps/srv/MotorController.srv
@@ -1,4 +1,4 @@
ViconData crazyflieLocation
Setpoint setpoint
---
-MotorControl controlOutput
+MotorCommand controlOutput
diff --git a/pps_ws/src/d_fall_pps/srv/RateController.srv b/pps_ws/src/d_fall_pps/srv/RateController.srv
index 51e8ceea..96469641 100644
--- a/pps_ws/src/d_fall_pps/srv/RateController.srv
+++ b/pps_ws/src/d_fall_pps/srv/RateController.srv
@@ -1,4 +1,4 @@
ViconData crazyflieLocation
Setpoint setpoint
---
-RateControl controlOutput
+RateCommand controlOutput
--
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