test_trajectory.cpp
Go to the documentation of this file.
00001 //=================================================================================================
00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 
00030 #include <ros/ros.h>
00031 #include <geometry_msgs/Twist.h>
00032 
00033 int main(int argc, char **argv)
00034 {
00035   ros::init(argc, argv, "test_trajectory");
00036   ros::NodeHandle nh;
00037   ros::Publisher publisher = nh.advertise<geometry_msgs::Twist>("cmd_vel", 1);
00038   geometry_msgs::Twist twist;
00039 
00040   publisher.publish(twist);
00041   ros::Duration(5.0).sleep();
00042 
00043   double speed = 3.0;
00044   double interval = 3.0;
00045 
00046   twist.linear.z = 2.0;
00047   publisher.publish(twist);
00048   ros::Duration(interval).sleep();
00049 
00050   twist.linear.z = 0.0;
00051   publisher.publish(twist);
00052   ros::Duration(interval).sleep();
00053 
00054   twist.linear.x = speed;
00055   publisher.publish(twist);
00056   ros::Duration(interval).sleep();
00057 
00058   twist.linear.x = 0.0;
00059   publisher.publish(twist);
00060   ros::Duration(interval).sleep();
00061 
00062   twist.linear.y = speed;
00063   publisher.publish(twist);
00064   ros::Duration(interval).sleep();
00065 
00066   twist.linear.y = 0.0;
00067   publisher.publish(twist);
00068   ros::Duration(interval).sleep();
00069 
00070   twist.linear.x = -speed;
00071   publisher.publish(twist);
00072   ros::Duration(interval).sleep();
00073 
00074   twist.linear.x = 0.0;
00075   publisher.publish(twist);
00076   ros::Duration(interval).sleep();
00077 
00078   twist.linear.y = -speed;
00079   publisher.publish(twist);
00080   ros::Duration(interval).sleep();
00081 
00082   twist.linear.y = 0.0;
00083   publisher.publish(twist);
00084   ros::Duration(interval).sleep();
00085 
00086   twist.linear.z = -1.0;
00087   publisher.publish(twist);
00088   ros::Duration(interval).sleep();
00089 
00090   twist.linear.z = 0.0;
00091   publisher.publish(twist);
00092   ros::Duration(interval).sleep();
00093 
00094   return 0;
00095 }


hector_quadrotor_controller
Author(s): Johannes Meyer
autogenerated on Mon Oct 6 2014 00:31:33