complies with cpplint
This commit is contained in:
Louis-Guillaume DUBOIS
parent
f94492264d
commit
15b11c3bb5
6 changed files with 635 additions and 648 deletions
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@ -16,67 +16,62 @@
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* along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <ros/ros.h>
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#include <ros/time.h>
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#include <locale.h>
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#include <limits>
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#include <math.h>
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#include <assert.h>
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#include <locale.h>
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#include <ros/ros.h>
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#include <ros/time.h>
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#include <pcl_ros/point_cloud.h>
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#include <pcl/point_types.h>
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#include <hand_control/Plan.h>
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#include <geometry_msgs/Twist.h>
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#include <math.h>
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#include <dynamic_reconfigure/server.h>
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#include <hand_control/CommanderConfig.h>
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#include <limits>
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class Run
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{
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class Run {
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private:
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float xx, yy, zz, theta; // read coords
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// see README.md to know what are the parameters
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float x_vel, y_vel, z_vel, angle_vel, up_factor, neutral_z; // parameters
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float x_vel, y_vel, z_vel, angle_vel,
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up_factor, neutral_z; // parameters
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float max_curv; // not used yet
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float z_dev_min, x_dev_min, y_dev_min, th_dev_min; // parameters : thresholds
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float z_dev_min, x_dev_min, y_dev_min,
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th_dev_min; // parameters : thresholds
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uint64_t min_number; // parameter
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bool no_diag; // parameter
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ros::Publisher pub;
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void publish()
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// build and publish a message from the "xx", "yy", "zz" and "theta" informations
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{
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void publish() {
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// build and publish a message from the "xx",
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// "yy", "zz" and "theta" informations
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geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist());
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if (fabs(zz) > z_dev_min)
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{
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if (fabs(zz) > z_dev_min) {
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// up_factor to balance out the gravity effect
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if (zz > 0)
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mvt->linear.z = zz * z_vel * up_factor ;
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mvt->linear.z = zz * z_vel * up_factor;
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else
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mvt->linear.z = zz * z_vel;
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}
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// no_diag true : the drone can only translate on the "x" axis
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// or the "y" axis but not on a linear combination of these axes.
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if (no_diag)
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{
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if (no_diag) {
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if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min)
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{
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mvt->linear.y = yy * y_vel;
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}
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else if (fabs(xx) > x_dev_min)
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{
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mvt->linear.x = - xx * x_vel;
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}
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} else // no_diag false : the drone can translate on any possible direction
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{
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} else {
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// no_diag false : the drone can translate on any possible direction
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if (fabs(yy) > y_dev_min)
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mvt->linear.y = yy * y_vel;
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if (fabs(xx) > x_dev_min)
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@ -92,43 +87,35 @@ class Run
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}
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public:
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Run(const ros::Publisher& cmd_publisher) :
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explicit Run(const ros::Publisher& cmd_publisher) :
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pub(cmd_publisher) {}
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void callback(const hand_control::Plan::ConstPtr& msg)
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// handle received messages
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{
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void callback(const hand_control::Plan::ConstPtr& msg) {
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ROS_INFO("plan received");
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if (msg->curvature < max_curv && msg->number > min_number)
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// we ever have msg->curvature == 0 in fact (not implemented yet)
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{
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if(msg->normal.z > 0)
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{
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// we ever have msg->curvature == 0 in fact (not implemented yet)
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if (msg->curvature < max_curv && msg->number > min_number) {
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if (msg->normal.z > 0) {
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yy = msg->normal.x;
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xx = msg->normal.y;
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}
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else
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{
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} else {
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yy = - msg->normal.x;
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xx = - msg->normal.y;
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}
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zz = msg->altitude - neutral_z;
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theta = msg->angle;
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// theta between -90 and 90
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ROS_INFO("coords updated");
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} else {
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xx = yy = zz = 0.;
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}
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publish();
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};
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}
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void reconfigure(const hand_control::CommanderConfig& c, const uint32_t& level)
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// updates the parameters (received with dynamic_reconfigure)
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{
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void reconfigure(const hand_control::CommanderConfig& c,
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const uint32_t& level) {
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max_curv = c.max_curvature;
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x_dev_min = c.x_minimal_deviation;
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y_dev_min = c.y_minimal_deviation;
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@ -144,21 +131,20 @@ class Run
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no_diag = c.no_diag;
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}
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void run()
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// runs the callbacks and publications process
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{
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void run() {
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ros::spin();
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}
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};
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int main(int argc, char** argv)
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{
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int main(int argc, char** argv) {
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ros::init(argc, argv, "commander");
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ros::NodeHandle node("commander");
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ros::Publisher cmd_pub = node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
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ros::Publisher cmd_pub =\
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node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
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Run run(cmd_pub);
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ros::Subscriber plan_sub = node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run);
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ros::Subscriber plan_sub =\
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node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run);
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// setting up dynamic_reconfigure (for rqt_reconfigure)
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dynamic_reconfigure::Server<hand_control::CommanderConfig> server;
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@ -17,10 +17,12 @@
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*/
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// library used by "keyboard_cmd.cpp"
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#include "./display.h"
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#include <ncurses.h>
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#include <string>
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#include <geometry_msgs/Twist.h>
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#include "display.h"
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#include <string>
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const int Curses::cmd_kbd_lines = 8;
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const int Curses::cmd_kbd_columns = 55;
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@ -44,7 +46,7 @@ Curses::Curses() {
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initscr();
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cbreak();
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start_color();
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//noecho();
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// noecho();
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cmd_kbd = newwin(cmd_kbd_lines, cmd_kbd_columns, 0, 0);
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@ -126,7 +128,7 @@ void Curses::print_cmd_speed() {
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}
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void Curses::update_cmd_speed(const char& coord, const float& v) {
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switch(coord) {
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switch (coord) {
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case 'x':
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wmove(cmd_speed, 0, 16);
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wprintw(cmd_speed, "%f", v);
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@ -144,7 +146,7 @@ void Curses::update_cmd_speed(const char& coord, const float& v) {
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wprintw(cmd_speed, "%f", v);
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break;
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default:
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;
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{}
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}
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wrefresh(cmd_speed);
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}
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@ -170,7 +172,7 @@ void Curses::update_nav_data(const float& batteryPercent,
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wmove(nav_data, 2, 10);
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wprintw(nav_data, "%f %", time);
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wmove(nav_data, 1, 10);
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switch(state) {
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switch (state) {
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case 0:
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waddstr(nav_data, "unknown ");
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break;
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@ -202,7 +204,7 @@ void Curses::update_nav_data(const float& batteryPercent,
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waddstr(nav_data, "looping ");
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break;
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default:
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;
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{}
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}
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wrefresh(nav_data);
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}
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@ -16,15 +16,14 @@
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* along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef CURSES_DISPLAY
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#define CURSES_DISPLAY
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#ifndef SRC_DISPLAY_H_
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#define SRC_DISPLAY_H_
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#include <ncurses.h>
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#include <string>
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#include <geometry_msgs/Twist.h>
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#include <string>
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class Curses
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{
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class Curses {
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private:
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static const int cmd_kbd_lines;
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static const int cmd_kbd_columns;
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@ -61,7 +60,6 @@ class Curses
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~Curses();
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char getchar();
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// TODO
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void update_cmd_speed(const char& coord, const float& v);
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void update_nav_data(const float& batteryPercent,
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const int& state,
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@ -70,4 +68,4 @@ class Curses
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void update_topic(const geometry_msgs::Twist::ConstPtr& twist);
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};
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#endif
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#endif // SRC_DISPLAY_H_
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@ -1,17 +1,21 @@
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/* Copyright © 2015 CentraleSupélec
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*
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* This file is part of Hand Control.
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*
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* Hand Control is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Hand Control is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
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*/
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@ -34,14 +38,12 @@ typedef Eigen::Matrix3f& Matrix;
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class Callback {
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public:
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void callback(const PointCloud::ConstPtr& msg)
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// handles received messages and publish the plan estimation
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{
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void callback(const PointCloud::ConstPtr& msg) {
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ROS_INFO("PointCloud received");
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if (msg->width > 3){
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if (msg->width > 3) {
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// else, no plan can be estimated…
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analyser.setInputCloud(msg);
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Matrix eg = analyser.getEigenVectors();
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@ -54,8 +56,7 @@ class Callback {
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v.normalize(); // to have norm(v) == 1
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// x, y and z are the coords of the plan normal
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if (!reverse)
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{
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if (!reverse) {
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x = v(0); y = v(1);
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} else {
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// if "x" and "y" axes are inverted
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@ -67,46 +68,58 @@ class Callback {
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// h is the altitude
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h = (analyser.getMean())(2);
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// angle calculation
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// m_x and m_y are the "x" and "y" coords
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// of the first principal component
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float m_x, m_y;
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if (reverse_angle)
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// parameter to set
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// with dynamic_reconfigure
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{
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m_x = eg(0,0);
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m_y = eg(1,0);
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if (reverse_angle) {
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m_x = eg(0, 0);
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m_y = eg(1, 0);
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} else {
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m_x = eg(1,0);
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m_y = eg(0,0);
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m_x = eg(1, 0);
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m_y = eg(0, 0);
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}
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// because we want "th" only between -90° and 90°
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if (m_x < 0.)
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m_y *= -1;
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th = - asin(m_y / sqrt(pow(m_y,2)+ pow(m_x,2))); // 0 <= th <= pi
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th = - asin(m_y / sqrt(pow(m_y, 2)+ pow(m_x, 2))); // 0 <= th <= pi
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th *= _RAD2DEG; // -90 <= th <= 90
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// TODO
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// TODO(someone)
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// -> calculate "c" (the curvature)
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// ( c == 0 for the moment)
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// publication
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ROS_INFO("Plan published");
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publisher.publish(to_Plan(x, y, z, h, th, c, msg->header.seq, msg->header.stamp, msg->width));
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publisher.publish(
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to_Plan(
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x, y, z, h, th, c,
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msg->header.seq,
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msg->header.stamp,
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msg->width));
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}
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}
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Callback(ros::Publisher& pub):publisher(pub), _RAD2DEG(45.f/atan(1.)), reverse(false), reverse_angle(false) {};
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explicit Callback(const ros::Publisher& pub) :
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publisher(pub),
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_RAD2DEG(45.f/atan(1.)),
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reverse(false),
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reverse_angle(false) {}
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void reconfigure(const hand_control::EstimatorConfig& c, const uint32_t& level)
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// updates the parameters received from dynamic_reconfigure
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{
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reverse = c.reverse ;
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void reconfigure(const hand_control::EstimatorConfig& c,
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const uint32_t& level) {
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reverse = c.reverse;
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reverse_angle = c.reverse_angle;
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}
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@ -123,15 +136,16 @@ class Callback {
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const float& z, const float& h,
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const float& th,
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const float& c, const uint32_t& seq,
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const uint64_t& msec64, const uint64_t& number)
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{
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const uint64_t& msec64, const uint64_t& number) {
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hand_control::Plan::Ptr ros_msg(new hand_control::Plan());
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ros_msg->normal.x = x;
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ros_msg->normal.y = y;
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ros_msg->normal.z = z;
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ros_msg->altitude = h;
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ros_msg->angle = th;
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ros_msg->curvature = c;
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ros_msg->number = number;
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uint64_t sec64 = msec64 / 1000000;
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uint64_t nsec64 = (msec64 % 1000000) * 1000;
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@ -143,13 +157,13 @@ class Callback {
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}
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};
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int main(int argc, char** argv)
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{
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int main(int argc, char** argv) {
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ros::init(argc, argv, "estimator");
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ros::NodeHandle node("estimator");
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ros::Publisher publisher = node.advertise<hand_control::Plan>("output", 1);
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Callback callback(publisher);
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ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, &Callback::callback, &callback);
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ros::Subscriber subscriber =
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node.subscribe<PointCloud>("input", 1, &Callback::callback, &callback);
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// sets up dynamic_reconfigure
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dynamic_reconfigure::Server<hand_control::EstimatorConfig> server;
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@ -16,13 +16,15 @@
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* along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <assert.h>
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#include <hand_control/FilterConfig.h>
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#include <ros/ros.h>
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#include <pcl_ros/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl/tracking/impl/hsv_color_coherence.hpp>
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#include <assert.h>
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#include <dynamic_reconfigure/server.h>
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#include <hand_control/FilterConfig.h>
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#include <algorithm>
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typedef pcl::PointXYZRGB Point;
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@ -30,33 +32,41 @@ typedef pcl::PointCloud<Point> PointCloud;
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class Callback {
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public:
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void
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callback(const PointCloud::ConstPtr& msg)
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// handles and filters the received PointCloud and
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// publishes the filtered PointCloud
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{
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void callback(const PointCloud::ConstPtr& msg) {
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PointCloud::Ptr pcl(new PointCloud());
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copy_info(msg, pcl); // copy the header
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BOOST_FOREACH (const Point& pt, msg->points)
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{
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BOOST_FOREACH(const Point& pt, msg->points) {
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float hue_dist, sat, val;
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hdist_s_v(pt, hue_dist, sat, val);
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if (pt.z < z_max and hue_dist < delta_hue and sat < sat_max and sat > sat_min and val < val_max and val > val_min)
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if (pt.z < z_max &&
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hue_dist < delta_hue &&
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sat < sat_max &&
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sat > sat_min &&
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val < val_max &&
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val > val_min) {
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pcl->push_back(pt);
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}
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}
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pcl->height = 1;
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pcl->width = pcl->points.size();
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publisher.publish(pcl);
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}
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Callback(const ros::Publisher& pub)
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: publisher(pub), z_max(90.), hue(0.), delta_hue(20.), sat_min(0.3), sat_max(1.), val_min(0.3), val_max(1.)
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{}
|
||||
explicit Callback(const ros::Publisher& pub) :
|
||||
publisher(pub),
|
||||
z_max(90.),
|
||||
hue(0.),
|
||||
delta_hue(20.),
|
||||
sat_min(0.3),
|
||||
sat_max(1.),
|
||||
val_min(0.3),
|
||||
val_max(1.) {}
|
||||
|
||||
void
|
||||
reconfigure(const hand_control::FilterConfig& c, const uint32_t& level)
|
||||
// updates the parameters
|
||||
{
|
||||
void reconfigure(const hand_control::FilterConfig& c,
|
||||
const uint32_t& level) {
|
||||
z_max = c.z_max;
|
||||
hue = c.hue;
|
||||
delta_hue = c.delta_hue;
|
||||
|
|
@ -68,29 +78,27 @@ class Callback {
|
|||
|
||||
private:
|
||||
ros::Publisher publisher;
|
||||
float z_max, hue, delta_hue, val_min, val_max, sat_min, sat_max;
|
||||
float z_max, hue, delta_hue, val_min,
|
||||
val_max, sat_min, sat_max;
|
||||
|
||||
inline
|
||||
void
|
||||
copy_info(const PointCloud::ConstPtr& a,
|
||||
PointCloud::Ptr& b)
|
||||
// copy the header info (useful in order to use rviz)
|
||||
{
|
||||
inline void copy_info(const PointCloud::ConstPtr& a,
|
||||
PointCloud::Ptr& b) {
|
||||
b->header = a->header;
|
||||
b->sensor_origin_ = a->sensor_origin_;
|
||||
b->sensor_orientation_ = a->sensor_orientation_;
|
||||
b->is_dense = a->is_dense;
|
||||
}
|
||||
|
||||
inline
|
||||
void
|
||||
hdist_s_v(const Point& pt, float& h_dist, float& s, float& v)
|
||||
// calculate the distance from the wished hue, the saturation and the value
|
||||
// of the point
|
||||
{
|
||||
// calculate the distance from the wished hue,
|
||||
// the saturation and the value of the point
|
||||
inline void hdist_s_v(const Point& pt,
|
||||
float& h_dist,
|
||||
float& s,
|
||||
float& v) {
|
||||
float h, diff1, diff2;
|
||||
pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v);
|
||||
h *= 360.0f ;
|
||||
h *= 360.0f;
|
||||
diff1 = std::fabs(h - hue);
|
||||
// hue is periodic
|
||||
if (h < hue)
|
||||
|
|
@ -101,14 +109,19 @@ class Callback {
|
|||
}
|
||||
};
|
||||
|
||||
int
|
||||
main(int argc, char** argv)
|
||||
{
|
||||
int main(int argc, char** argv) {
|
||||
ros::init(argc, argv, "filter");
|
||||
ros::NodeHandle node("filter");
|
||||
ros::Publisher publisher = node.advertise<PointCloud>("output", 1);
|
||||
|
||||
ros::Publisher publisher =
|
||||
node.advertise<PointCloud>("output", 1);
|
||||
|
||||
Callback my_callback(publisher);
|
||||
ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, &Callback::callback, &my_callback);
|
||||
|
||||
ros::Subscriber subscriber =
|
||||
node.subscribe<PointCloud>("input", 1,
|
||||
&Callback::callback,
|
||||
&my_callback);
|
||||
|
||||
// sets up dynamic_reconfigure
|
||||
dynamic_reconfigure::Server<hand_control::FilterConfig> server;
|
||||
|
|
|
|||
|
|
@ -16,61 +16,60 @@
|
|||
* along with Hand Control. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
|
||||
#include <ros/ros.h>
|
||||
#include <ros/time.h>
|
||||
#include <locale.h>
|
||||
#include "display.h"
|
||||
|
||||
#include <std_msgs/Empty.h>
|
||||
#include <geometry_msgs/Twist.h>
|
||||
#include <ardrone_autonomy/Navdata.h>
|
||||
|
||||
class NavdataCallback
|
||||
{
|
||||
#include "./display.h"
|
||||
|
||||
class NavdataCallback {
|
||||
private:
|
||||
boost::shared_ptr<Curses> term;
|
||||
|
||||
public:
|
||||
NavdataCallback(const boost::shared_ptr<Curses>& terminal) :
|
||||
explicit NavdataCallback(const boost::shared_ptr<Curses>& terminal) :
|
||||
term(terminal) {}
|
||||
|
||||
void operator()(const ardrone_autonomy::Navdata::ConstPtr& msg) {
|
||||
term->update_nav_data(msg->batteryPercent, msg->state, msg->tm);
|
||||
}
|
||||
}; // class NavdataCallback
|
||||
};
|
||||
|
||||
class CmdVelCallback
|
||||
{
|
||||
class CmdVelCallback {
|
||||
private:
|
||||
boost::shared_ptr<Curses> term;
|
||||
|
||||
public:
|
||||
CmdVelCallback(const boost::shared_ptr<Curses>& terminal) :
|
||||
explicit CmdVelCallback(const boost::shared_ptr<Curses>& terminal) :
|
||||
term(terminal) {}
|
||||
|
||||
void operator()(const geometry_msgs::Twist::ConstPtr& msg) {
|
||||
term->update_topic(msg);
|
||||
}
|
||||
}; // class CmdVelCallback
|
||||
};
|
||||
|
||||
class Run
|
||||
{
|
||||
class Run {
|
||||
private:
|
||||
std_msgs::Empty empty;
|
||||
ros::NodeHandle n;
|
||||
ros::Rate loop_rate;
|
||||
ros::Publisher cmd, pub_takeoff, pub_land, pub_reset;
|
||||
ros::Subscriber data_subscriber, cmdvel_subscriber;
|
||||
void land() { pub_land.publish(empty); };
|
||||
void takeoff() { pub_takeoff.publish(empty); };
|
||||
void reset() { pub_reset.publish(empty); };
|
||||
void land() { pub_land.publish(empty); }
|
||||
void takeoff() { pub_takeoff.publish(empty); }
|
||||
void reset() { pub_reset.publish(empty); }
|
||||
float x_speed, y_speed, z_speed, turn;
|
||||
boost::shared_ptr<Curses> term;
|
||||
NavdataCallback data_callback;
|
||||
CmdVelCallback cmdvel_callback;
|
||||
|
||||
public:
|
||||
Run(const boost::shared_ptr<Curses>& terminal) :
|
||||
explicit Run(const boost::shared_ptr<Curses>& terminal) :
|
||||
data_callback(terminal),
|
||||
cmdvel_callback(terminal),
|
||||
term(terminal),
|
||||
|
|
@ -79,12 +78,18 @@ class Run
|
|||
y_speed(0.1),
|
||||
z_speed(0.1),
|
||||
turn(0.1) {
|
||||
cmd = n.advertise<geometry_msgs::Twist>("/cmd_vel",1);
|
||||
cmd = n.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
|
||||
pub_takeoff = n.advertise<std_msgs::Empty>("/ardrone/takeoff", 1);
|
||||
pub_land = n.advertise<std_msgs::Empty>("/ardrone/land", 1);
|
||||
pub_reset = n.advertise<std_msgs::Empty>("/ardrone/reset", 1);
|
||||
data_subscriber = n.subscribe<ardrone_autonomy::Navdata>("/ardrone/navdata", 1, data_callback);
|
||||
cmdvel_subscriber = n.subscribe<geometry_msgs::Twist>("/cmd_vel", 1, cmdvel_callback);
|
||||
|
||||
data_subscriber =
|
||||
n.subscribe<ardrone_autonomy::Navdata>(
|
||||
"/ardrone/navdata", 1, data_callback);
|
||||
|
||||
cmdvel_subscriber =
|
||||
n.subscribe<geometry_msgs::Twist>(
|
||||
"/cmd_vel", 1, cmdvel_callback);
|
||||
|
||||
term->update_cmd_speed('x', x_speed);
|
||||
term->update_cmd_speed('y', y_speed);
|
||||
|
|
@ -97,10 +102,8 @@ class Run
|
|||
term->update_nav_data(a, s, time);
|
||||
}
|
||||
|
||||
void operator()()
|
||||
{
|
||||
while (ros::ok())
|
||||
{
|
||||
void operator()() {
|
||||
while (ros::ok()) {
|
||||
ros::spinOnce();
|
||||
|
||||
geometry_msgs::Twist::Ptr msg(new geometry_msgs::Twist());
|
||||
|
|
@ -109,187 +112,158 @@ class Run
|
|||
|
||||
char c = term->getchar();
|
||||
|
||||
switch(c)
|
||||
{
|
||||
case 'k' :
|
||||
{// hover
|
||||
switch (c) {
|
||||
case 'k' : { // hover
|
||||
cmd.publish(msg);
|
||||
term->log_sent("hover !");
|
||||
break;
|
||||
}
|
||||
case 'i' :
|
||||
{// forward
|
||||
case 'i' : { // forward
|
||||
msg->linear.x = x_speed;
|
||||
cmd.publish(msg);
|
||||
term->log_sent("forward !");
|
||||
break;
|
||||
}
|
||||
case ';' :
|
||||
{// backward
|
||||
case ';' : { // backward
|
||||
msg->linear.x = -x_speed;
|
||||
cmd.publish(msg);
|
||||
term->log_sent("backward !");
|
||||
break;
|
||||
}
|
||||
case 'h' :
|
||||
{//translate left
|
||||
case 'h' : { // translate left
|
||||
msg->linear.y = -y_speed;
|
||||
cmd.publish(msg);
|
||||
term->log_sent("translate left !");
|
||||
break;
|
||||
}
|
||||
case 'm' :
|
||||
{//translate right
|
||||
case 'm' : { // translate right
|
||||
msg->linear.y = y_speed;
|
||||
cmd.publish(msg);
|
||||
term->log_sent("translate right !");
|
||||
break;
|
||||
}
|
||||
case 'j' :
|
||||
{//rotate left
|
||||
case 'j' : { // rotate left
|
||||
msg->angular.z = turn;
|
||||
cmd.publish(msg);
|
||||
term->log_sent("rotate left !");
|
||||
break;
|
||||
}
|
||||
case 'l' :
|
||||
{//rotate right
|
||||
case 'l' : { // rotate right
|
||||
msg->angular.z = -turn;
|
||||
cmd.publish(msg);
|
||||
term->log_sent("rotate right !");
|
||||
break;
|
||||
}
|
||||
case 'u' :
|
||||
{//turn left
|
||||
case 'u' : { // turn left
|
||||
msg->angular.z = turn;
|
||||
msg->linear.x = x_speed;
|
||||
cmd.publish(msg);
|
||||
term->log_sent("forward left !");
|
||||
break;
|
||||
}
|
||||
case 'o' :
|
||||
{//turn right
|
||||
case 'o' : { // turn right
|
||||
msg->angular.z = -turn;
|
||||
msg->linear.x = x_speed;
|
||||
cmd.publish(msg);
|
||||
term->log_sent("forward right !");
|
||||
break;
|
||||
}
|
||||
case ',' :
|
||||
{//turn left backward
|
||||
case ',' : { // turn left backward
|
||||
msg->angular.z = turn;
|
||||
msg->linear.x = -x_speed;
|
||||
cmd.publish(msg);
|
||||
term->log_sent("backward left !");
|
||||
term->log_sent("backward left !");
|
||||
break;
|
||||
}
|
||||
case ':' :
|
||||
{//turn right backward
|
||||
case ':' : { // turn right backward
|
||||
msg->angular.z = -turn;
|
||||
msg->linear.x = -x_speed;
|
||||
cmd.publish(msg);
|
||||
term->log_sent("backward right !");
|
||||
break;
|
||||
}
|
||||
case 'y' :
|
||||
{//up
|
||||
case 'y' : { // up
|
||||
msg->linear.z = z_speed;
|
||||
cmd.publish(msg);
|
||||
term->log_sent("up !");
|
||||
break;
|
||||
}
|
||||
case 'n' :
|
||||
{//down
|
||||
case 'n' : { // down
|
||||
msg->linear.z = -z_speed;
|
||||
cmd.publish(msg);
|
||||
term->log_sent("down !");
|
||||
break;
|
||||
}
|
||||
case 't' :
|
||||
{//takeoff
|
||||
case 't' : { // takeoff
|
||||
takeoff();
|
||||
term->log_sent("takeoff !");
|
||||
break;
|
||||
}
|
||||
case 'b' :
|
||||
{//land
|
||||
case 'b' : { // land
|
||||
land();
|
||||
term->log_sent("land !");
|
||||
break;
|
||||
}
|
||||
case 'g' :
|
||||
{//reset
|
||||
case 'g' : { // reset
|
||||
reset();
|
||||
term->log_sent("reset !");
|
||||
break;
|
||||
}
|
||||
case 'a' :
|
||||
{// + x_speed
|
||||
case 'a' : { // + x_speed
|
||||
x_speed *= 1.1;
|
||||
term->update_cmd_speed('x', x_speed);
|
||||
break;
|
||||
}
|
||||
case 'w' :
|
||||
{// - x_speed
|
||||
case 'w' : { // - x_speed
|
||||
x_speed *= 0.9;
|
||||
term->update_cmd_speed('x', x_speed);
|
||||
break;
|
||||
}
|
||||
case 'z' :
|
||||
{// + y_speed
|
||||
case 'z' : { // + y_speed
|
||||
y_speed *= 1.1;
|
||||
term->update_cmd_speed('y', y_speed);
|
||||
break;
|
||||
}
|
||||
case 'x' :
|
||||
{// - y_speed
|
||||
case 'x' : { // - y_speed
|
||||
y_speed *= 0.9;
|
||||
term->update_cmd_speed('y', y_speed);
|
||||
break;
|
||||
}
|
||||
case 'e' :
|
||||
{// + z_speed
|
||||
case 'e' : { // + z_speed
|
||||
z_speed *= 1.1;
|
||||
term->update_cmd_speed('z', z_speed);
|
||||
break;
|
||||
}
|
||||
case 'c' :
|
||||
{// - z_speed
|
||||
case 'c' : { // - z_speed
|
||||
z_speed *= 0.9;
|
||||
term->update_cmd_speed('z', z_speed);
|
||||
break;
|
||||
}
|
||||
case 'r' :
|
||||
{// + turn speed
|
||||
case 'r' : { // + turn speed
|
||||
turn *= 1.1;
|
||||
term->update_cmd_speed('t', turn);
|
||||
break;
|
||||
}
|
||||
case 'v' :
|
||||
{// - turn speed
|
||||
case 'v' : { // - turn speed
|
||||
turn *= 0.9;
|
||||
term->update_cmd_speed('t', turn);
|
||||
break;
|
||||
}
|
||||
default :
|
||||
{
|
||||
default : {
|
||||
cmd.publish(msg);
|
||||
term->log_sent("hover !");
|
||||
}
|
||||
} // switch(c)
|
||||
loop_rate.sleep();
|
||||
} // while
|
||||
} //void run()
|
||||
|
||||
} // void run()
|
||||
}; // class Run
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
int main(int argc, char** argv) {
|
||||
setlocale(LC_ALL, "");
|
||||
ros::init(argc, argv, "keyboard_cmd");
|
||||
boost::shared_ptr<Curses> term(new Curses());
|
||||
Run fun(term);
|
||||
fun();
|
||||
return 0;
|
||||
} // main
|
||||
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue