00001 #ifndef _TELEOP_TWIST_H_ 00002 #define _TELEOP_TWIST_H_ 00003 00004 #include <ardrone_autonomy/ardrone_sdk.h> 00005 #include <geometry_msgs/Twist.h> 00006 #include <std_msgs/Empty.h> 00007 #include <std_srvs/Empty.h> 00008 #include <ardrone_autonomy/CamSelect.h> 00009 #include <ardrone_autonomy/LedAnim.h> 00010 #include <ardrone_autonomy/FlightAnim.h> 00011 #include <ardrone_autonomy/RecordEnable.h> 00012 00013 #define _EPS 1.0e-6 00014 00015 extern input_device_t teleop; 00016 00017 void cmdVelCallback(const geometry_msgs::TwistConstPtr &msg); 00018 void landCallback(const std_msgs::Empty &msg); 00019 void resetCallback(const std_msgs::Empty &msg); 00020 void takeoffCallback(const std_msgs::Empty &msg); 00021 00022 //void toggleCamCallback(const std_msgs::Empty &msg); 00023 bool setCamChannelCallback(ardrone_autonomy::CamSelect::Request& request, ardrone_autonomy::CamSelect::Response& response); 00024 bool toggleCamCallback(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); 00025 bool setLedAnimationCallback(ardrone_autonomy::LedAnim::Request& request, ardrone_autonomy::LedAnim::Response& response); 00026 bool flatTrimCallback(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); 00027 bool setFlightAnimationCallback(ardrone_autonomy::FlightAnim::Request& request, ardrone_autonomy::FlightAnim::Response& response); 00028 bool setRecordCallback(ardrone_autonomy::RecordEnable::Request &request, ardrone_autonomy::RecordEnable::Response& response); 00029 00030 //All global drone configs that should be sent on init 00031 00032 #define DEFAULT_CAM_STATE 0 00033 #define DEFAULT_NAVDATA_DEMO 0 00034 00035 extern int cam_state; 00036 extern int set_navdata_demo_value; 00037 extern int32_t detect_enemy_color; 00038 extern int32_t detect_groundstripes_color; 00039 extern int32_t detect_indoor_hull; //1: Indoor Hull 00040 extern int32_t detect_dtype; 00041 extern int32_t detect_hori_type; 00042 extern int32_t detect_vert_type; 00043 extern int32_t detect_disable_placeholder; 00044 extern int32_t detect_enable_placeholder; 00045 00046 00047 #endif 00048