Program Listing for File ignition_platform.hpp

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/*!*******************************************************************************************
 *  \file       ignition_platform.hpp
 *  \brief      Implementation of an Ignition Gazebo UAV platform
 *  \authors    Miguel Fernández Cortizas
 *              Pedro Arias Pérez
 *              David Pérez Saura
 *              Rafael Pérez Seguí
 *
 *  \copyright  Copyright (c) 2022 Universidad Politécnica de Madrid
 *              All Rights Reserved
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 * 3. Neither the name of the copyright holder nor the names of its contributors
 *    may be used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
 * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 ********************************************************************************/

#ifndef IGNITION_PLATFORM_HPP_
#define IGNITION_PLATFORM_HPP_

#include <rclcpp/logging.hpp>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/bool.hpp>

#include "as2_core/aerial_platform.hpp"
#include "as2_core/core_functions.hpp"
#include "as2_core/names/topics.hpp"
#include "as2_core/utils/control_mode_utils.hpp"
#include "as2_core/utils/tf_utils.hpp"

#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>

namespace ignition_platform {

class IgnitionPlatform : public as2::AerialPlatform {
public:
  IgnitionPlatform();
  ~IgnitionPlatform(){};

public:
  void configureSensors(){};
  bool ownSendCommand() override;
  bool ownSetArmingState(bool state) override;
  bool ownSetOffboardControl(bool offboard) override;
  bool ownSetPlatformControlMode(const as2_msgs::msg::ControlMode &msg) override;
  void ownKillSwitch() override;
  void ownStopPlatform() override;
  bool ownTakeoff() override;
  bool ownLand() override;

  // Publishers
  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr twist_pub_;
  rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr arm_pub_;

  // Subscribers
  rclcpp::Subscription<geometry_msgs::msg::TwistStamped>::SharedPtr twist_state_sub_;

private:
  as2_msgs::msg::ControlMode control_in_;
  double yaw_rate_limit_ = M_PI_2;

  bool enable_takeoff_           = false;
  bool enable_land_              = false;
  bool state_received_           = false;
  double current_height_         = 0.0;
  double current_vertical_speed_ = 0.0;
  std::shared_ptr<as2::tf::TfHandler> tf_handler_;

private:
  void resetCommandTwistMsg();
  void state_callback(const geometry_msgs::msg::TwistStamped::SharedPtr _twist_msg);
};
}  // namespace ignition_platform

#endif  // IGNITION_PLATFORM_HPP_