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changed camera_state_orientation to version2 as v1 is deprecated (Fixes #129 ) #178

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changed camera_state_orientation to version2 as v1 is deprecated (Fixes #129 ) #178

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b5487a7
changed config and launch file for bebop2
itssme Oct 21, 2018
0d2ed23
changed camera_state_orientation to version2 as v1 is deprecated
itssme Oct 21, 2018
5e92a15
fixed typo that caused an compile error
itssme Oct 21, 2018
28856cb
fixed bug that orientationV2 was not updated until the camera was moved
itssme Oct 22, 2018
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1 change: 1 addition & 0 deletions bebop_driver/config/defaults.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@ states:
enable_autotakeoffmodechanged: true
enable_mediastreamingstate_videoenablechanged: true
enable_camerastate_orientation: true
enable_camerastate_orientationv2: true
enable_gpsstate_numberofsatellitechanged: true
enable_numberofsatellitechanged: true

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3 changes: 3 additions & 0 deletions bebop_driver/include/bebop_driver/autogenerated/ardrone3_state_callbacks.h
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Expand Up @@ -1605,6 +1605,9 @@ class Ardrone3CameraStateOrientationV2 : public AbstractState
{
ARSAL_PRINT(ARSAL_PRINT_INFO, "CB" , "[STATES] Enabling %s", topic.c_str());
ros_pub_ = nh.advertise<bebop_msgs::Ardrone3CameraStateOrientationV2>(topic, 10, true);
::boost::lock_guard<boost::mutex> lock(mutex_);
msg_ptr.reset(new ::bebop_msgs::Ardrone3CameraStateOrientationV2());
ros_pub_.publish(msg_ptr);
} // pub_enabled_ is false
}

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2 changes: 1 addition & 1 deletion bebop_driver/launch/bebop_node.launch
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Expand Up @@ -2,7 +2,7 @@
<launch>
<arg name="namespace" default="bebop" />
<arg name="ip" default="192.168.42.1" />
<arg name="drone_type" default="bebop1" /> <!-- available drone types: bebop1, bebop2 -->
<arg name="drone_type" default="bebop2" /> <!-- available drone types: bebop1, bebop2 -->
<arg name="config_file" default="$(find bebop_driver)/config/defaults.yaml" />
<arg name="camera_info_url" default="package://bebop_driver/data/$(arg drone_type)_camera_calib.yaml" />
<group ns="$(arg namespace)">
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2 changes: 1 addition & 1 deletion bebop_driver/launch/bebop_nodelet.launch
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Expand Up @@ -2,7 +2,7 @@
<launch>
<arg name="namespace" default="bebop" />
<arg name="ip" default="192.168.42.1" />
<arg name="drone_type" default="bebop1" /> <!-- available drone types: bebop1, bebop2 -->
<arg name="drone_type" default="bebop2" /> <!-- available drone types: bebop1, bebop2 -->
<arg name="config_file" default="$(find bebop_driver)/config/defaults.yaml" />
<arg name="camera_info_url" default="package://bebop_driver/data/$(arg drone_type)_camera_calib.yaml" />
<group ns="$(arg namespace)">
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6 changes: 3 additions & 3 deletions bebop_driver/src/bebop.cpp
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Expand Up @@ -553,10 +553,10 @@ void Bebop::Move(const double &roll, const double &pitch, const double &gaz_spee
void Bebop::MoveCamera(const double &tilt, const double &pan)
{
ThrowOnInternalError("Camera Move Failure");
ThrowOnCtrlError(device_controller_ptr_->aRDrone3->setCameraOrientation(
ThrowOnCtrlError(device_controller_ptr_->aRDrone3->setCameraOrientationV2(
device_controller_ptr_->aRDrone3,
static_cast<int8_t>(tilt),
static_cast<int8_t>(pan)));
static_cast<float>(tilt),
static_cast<float>(pan)));
}

uint32_t Bebop::GetFrontCameraFrameWidth() const
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7 changes: 4 additions & 3 deletions bebop_driver/src/bebop_driver_nodelet.cpp
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Expand Up @@ -482,7 +482,8 @@ void BebopDriverNodelet::AuxThread()
util::ResetTwist(zero_twist);

// Camera Pan/Tilt State
bebop_msgs::Ardrone3CameraStateOrientation::ConstPtr camera_state_ptr;
bebop_msgs::Ardrone3CameraStateOrientationV2::ConstPtr camera_state_ptr;
bebop_ptr_->MoveCamera(0.0, 0.0);

// East-South-Down
bebop_msgs::Ardrone3PilotingStateSpeedChanged::ConstPtr speed_esd_ptr;
Expand Down Expand Up @@ -568,9 +569,9 @@ void BebopDriverNodelet::AuxThread()
}
}

if (bebop_ptr_->ardrone3_camerastate_orientation_ptr)
if (bebop_ptr_->ardrone3_camerastate_orientationv2_ptr)
{
camera_state_ptr = bebop_ptr_->ardrone3_camerastate_orientation_ptr->GetDataCstPtr();
camera_state_ptr = bebop_ptr_->ardrone3_camerastate_orientationv2_ptr->GetDataCstPtr();

if ((camera_state_ptr->header.stamp - last_camerastate_time).toSec() > util::eps)
{
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