Commit 2c6aeca0 authored by phfriedl's avatar phfriedl
Browse files

small changes to PPSClient

parent 24efd52a
TeamName: 'Two'
CrazyFlieName: "cfTwo"
CrazyFlieAddress: "radio://0/99/2M"
CrazyFlieAddress: "radio://0/72/2M"
#controllertypes to add with adjustable
#motor, angle and rate
......@@ -21,19 +21,17 @@
using namespace d_fall_pps;
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");
......@@ -51,19 +51,6 @@ ros::Publisher motorCommandPublisher;
//not void: sould give back controlldata
void ppsClientToController(ViconData data){
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;
//Some way of choosing the correct controller: Safe or Custom
//using the area data
......@@ -106,7 +93,7 @@ void viconCallback(const d_fall_pps::ViconData& data){
//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);
......@@ -192,9 +179,9 @@ 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
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