takeoff.cpp

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/*
Parker Conroy
Algorithmic Robotics Lab @ University of Utah

This program launches the AR Drone. 
It is intended as a simple example for those starting with the AR Drone platform.
*/
#include <ros/ros.h>
#include <std_msgs/Empty.h>
std_msgs::Empty emp_msg;        

int main(int argc, char** argv)
{

        ROS_INFO("Flying ARdrone");
        ros::init(argc, argv,"ARDrone_test");
    ros::NodeHandle node;
    ros::Rate loop_rate(50);
        ros::Publisher pub_empty;
        pub_empty = node.advertise<std_msgs::Empty>("/ardrone/takeoff", 1); /* Message queue length is just 1 */

        while (ros::ok()) 
                                {
                                double time_start=(double)ros::Time::now().toSec();
                                while ((double)ros::Time::now().toSec()< time_start+5.0) /* Send command for five seconds*/
                                        { 
                                        pub_empty.publish(emp_msg); /* launches the drone */
                                        ros::spinOnce();
                                        loop_rate.sleep();
                                        }//time loop
                                ROS_INFO("ARdrone launched");
                                exit(0);
                                }//ros::ok loop

}//main