-
Notifications
You must be signed in to change notification settings - Fork 1
/
three_aug.cpp
209 lines (145 loc) · 6.6 KB
/
three_aug.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/TwistStamped.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/SetMode.h>
#include <mavros_msgs/State.h>
struct point{
std::vector<float> position;
} waypoint[3];
geometry_msgs::PoseStamped current_pose;
void pose_cb(const geometry_msgs::PoseStamped::ConstPtr& msg){
current_pose = *msg;
}
geometry_msgs::TwistStamped current_vel;
void vel_cb(const geometry_msgs::TwistStamped::ConstPtr& msg){
current_vel = *msg;
}
mavros_msgs::State current_state;
void state_cb(const mavros_msgs::State::ConstPtr& msg){
current_state = *msg;
}
int main(int argc, char **argv)
{
float soglia=0.5;
float soglia_vel=0.1;
std::vector<float> p0={0,0,5};
std::vector<float> p1={3,0,5};
std::vector<float> p2={0,0,2};
waypoint[0].position=p0;
waypoint[1].position=p1;
waypoint[2].position=p2;
/*std::cout << "p0x:"<<"\n"<< waypoint[0].position[0] << "\n" << "p0y:"<< "\n"<<waypoint[0].position[1] <<"\n"<< "p0z:"<<"\n"<< waypoint[0].position[2] << std::endl;
std::cout << "p1x:"<<"\n"<< waypoint[1].position[0] << "\n" << "p1y:"<< "\n"<<waypoint[1].position[1] <<"\n"<< "p1z:"<<"\n"<< waypoint[1].position[2] << std::endl;
std::cout << "p2x:"<<"\n"<< waypoint[2].position[0] << "\n" << "p2y:"<< "\n"<<waypoint[2].position[1] <<"\n"<< "p2z:"<<"\n"<< waypoint[2].position[2] << std::endl;*/
ros::init(argc, argv, "july_node");
ros::NodeHandle nh;
ROS_INFO("Test_info");
ros::Subscriber state_sub = nh.subscribe<mavros_msgs::State>
("mavros/state", 10, state_cb);
ros::Subscriber pose_sub = nh.subscribe<geometry_msgs::PoseStamped>
("mavros/local_position/pose", 10, pose_cb);
ros::Subscriber vel_sub = nh.subscribe<geometry_msgs::TwistStamped>
("mavros/local_position/velocity", 10, vel_cb);
ros::Publisher local_pos_pub = nh.advertise<geometry_msgs::PoseStamped>
("mavros/setpoint_position/local", 10);
ros::Publisher set_vel_pub = nh.advertise<geometry_msgs::TwistStamped>
("mavros/setpoint_velocity/cmd_vel", 10);
ros::ServiceClient arming_client = nh.serviceClient<mavros_msgs::CommandBool>
("mavros/cmd/arming");
ros::ServiceClient set_mode_client = nh.serviceClient<mavros_msgs::SetMode>
("mavros/set_mode");
//the setpoint publishing rate MUST be faster than 2Hz
ros::Rate rate(20.0);
// wait for FCU connection
while(ros::ok() && current_state.connected){
ros::spinOnce();
rate.sleep();
ROS_INFO("State Not Connected");
}
geometry_msgs::PoseStamped set_pose;
std::cout << "Definisco il mio primo obiettivo" <<std::endl;
set_pose.pose.position.x=p0[0];
set_pose.pose.position.y=p0[1];
set_pose.pose.position.z=p0[2];
geometry_msgs::TwistStamped set_vel;
set_vel.twist.linear.x=0.5;
set_vel.twist.linear.y=0.5;
set_vel.twist.linear.z=0.5;
int waypoint_index = 0;
std::cout << "pos x"<<"\n"<< set_pose.pose.position.x << "\n" << " pos y"<< "\n"<<set_pose.pose.position.y<<"\n"<< "pos z"<<"\n"<< set_pose.pose.position.z << std::endl;
//send a few setpoints before starting
for(int i = 100; ros::ok() && i > 0; --i){
local_pos_pub.publish(set_pose);
ros::spinOnce();
rate.sleep();
ROS_INFO("%d...",i);
}
ROS_INFO("Position Selected");
mavros_msgs::SetMode offb_set_mode;
offb_set_mode.request.custom_mode = "OFFBOARD";
mavros_msgs::CommandBool arm_cmd;
arm_cmd.request.value = true;
ros::Time last_request = ros::Time::now();
while(ros::ok()){
if( current_state.mode != "OFFBOARD" &&
(ros::Time::now() - last_request > ros::Duration(5.0))){
if( set_mode_client.call(offb_set_mode) &&
offb_set_mode.response.success){
ROS_INFO("Offboard enabled");
}
last_request = ros::Time::now();
} else {
if( !current_state.armed &&
(ros::Time::now() - last_request > ros::Duration(5.0))){
if( arming_client.call(arm_cmd) &&
arm_cmd.response.success){
ROS_INFO("Vehicle armed");
}
last_request = ros::Time::now();
}
}
local_pos_pub.publish(set_pose);
set_vel_pub.publish(set_vel);
if((fabs(set_pose.pose.position.x-current_pose.pose.position.x) < soglia) &&
( fabs(set_pose.pose.position.y-current_pose.pose.position.y) <soglia) &&
( fabs(set_pose.pose.position.z-current_pose.pose.position.z) < soglia))
{
waypoint_index++;
set_pose.pose.position.x=waypoint[waypoint_index%3].position[0];
set_pose.pose.position.y=waypoint[waypoint_index%3].position[1];
set_pose.pose.position.z=waypoint[waypoint_index%3].position[2];
if((fabs(set_vel.twist.linear.x - current_vel.twist.linear.x) > soglia_vel)&&
(fabs(set_vel.twist.linear.y - current_vel.twist.linear.y) >soglia_vel) &&
(fabs(set_vel.twist.linear.z - current_vel.twist.linear.z) >soglia_vel))
{
current_vel.twist.linear.x=set_vel.twist.linear.x;
current_vel.twist.linear.y=set_vel.twist.linear.y;
current_vel.twist.linear.z=set_vel.twist.linear.z;
std::cout << "- new set vel (x,y,z):" <<
current_vel.twist.linear.x << ", "
<<current_vel.twist.linear.y<<", "
<<current_vel.twist.linear.z << std::endl;
std::cout << waypoint_index << "- new set pose (x,y,z):" <<
set_pose.pose.position.x << ", "
<<set_pose.pose.position.y<<", "
<<set_pose.pose.position.z << std::endl;
}
}
if((fabs(set_vel.twist.linear.x - current_vel.twist.linear.x) > soglia_vel)&&
(fabs(set_vel.twist.linear.y - current_vel.twist.linear.y) >soglia_vel) &&
(fabs(set_vel.twist.linear.z - current_vel.twist.linear.z) >soglia_vel)){
current_vel.twist.linear.x=set_vel.twist.linear.x;
current_vel.twist.linear.y=set_vel.twist.linear.y;
current_vel.twist.linear.z=set_vel.twist.linear.z;
std::cout << "- current velocity (x,y,z):" <<
current_vel.twist.linear.x << ", "
<<current_vel.twist.linear.y<<", "
<<current_vel.twist.linear.z << std::endl;
std::cout << "ang x:"<<"\n"<< current_vel.twist.angular.x << "\n" << " ang y:"<< "\n"<<current_vel.twist.angular.y<<"\n"<< "ang z:"<<"\n"<< current_vel.twist.angular.z << std::endl;
}
ros::spinOnce();
rate.sleep();
}
return 0;
}