Classes
struct	log2
struct	logImu
struct	logPose
Public Member Functions
	CrazyflieROS (const std::string &link_uri, const std::string &tf_prefix, float roll_trim, float pitch_trim, bool enable_logging, bool enable_parameters, std::vector< crazyflie_driver::LogBlock > &log_blocks, bool use_ros_time, bool enable_logging_imu, bool enable_logging_temperature, bool enable_logging_magnetic_field, bool enable_logging_pressure, bool enable_logging_battery, bool enable_logging_pose, bool enable_logging_packets)
bool	sendPacket (crazyflie_driver::sendPacket::Request &req, crazyflie_driver::sendPacket::Response &res)
void	stop ()
Private Member Functions
struct CrazyflieROS::logImu	__attribute__ ((packed))
struct CrazyflieROS::log2	__attribute__ ((packed))
struct CrazyflieROS::logPose	__attribute__ ((packed))
void	cmdFullStateSetpoint (const crazyflie_driver::FullState::ConstPtr &msg)
void	cmdHoverSetpoint (const crazyflie_driver::Hover::ConstPtr &msg)
void	cmdPositionSetpoint (const crazyflie_driver::Position::ConstPtr &msg)
void	cmdStop (const std_msgs::Empty::ConstPtr &msg)
void	cmdVelChanged (const geometry_msgs::Twist::ConstPtr &msg)
bool	emergency (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	goTo (crazyflie_driver::GoTo::Request &req, crazyflie_driver::GoTo::Response &res)
bool	land (crazyflie_driver::Land::Request &req, crazyflie_driver::Land::Response &res)
void	onConsole (const char *msg)
void	onEmptyAck (const crtpPlatformRSSIAck *data)
void	onGenericPacket (const ITransport::Ack &ack)
void	onImuData (uint32_t time_in_ms, logImu *data)
void	onLinkQuality (float linkQuality)
void	onLog2Data (uint32_t time_in_ms, log2 *data)
void	onLogCustom (uint32_t time_in_ms, std::vector< double > values, void userData)
void	onPoseData (uint32_t time_in_ms, logPose *data)
void	poseMeasurementChanged (const geometry_msgs::PoseStamped::ConstPtr &msg)
void	positionMeasurementChanged (const geometry_msgs::PointStamped::ConstPtr &msg)
void	run ()
bool	setGroupMask (crazyflie_driver::SetGroupMask::Request &req, crazyflie_driver::SetGroupMask::Response &res)
bool	startTrajectory (crazyflie_driver::StartTrajectory::Request &req, crazyflie_driver::StartTrajectory::Response &res)
bool	stop (crazyflie_driver::Stop::Request &req, crazyflie_driver::Stop::Response &res)
bool	takeoff (crazyflie_driver::Takeoff::Request &req, crazyflie_driver::Takeoff::Response &res)
template<class T , class U >
void	updateParam (uint8_t id, const std::string &ros_param)
bool	updateParams (crazyflie_driver::UpdateParams::Request &req, crazyflie_driver::UpdateParams::Response &res)
bool	uploadTrajectory (crazyflie_driver::UploadTrajectory::Request &req, crazyflie_driver::UploadTrajectory::Response &res)
Private Attributes
ros::CallbackQueue	m_callback_queue
Crazyflie	m_cf
bool	m_enable_logging_battery
bool	m_enable_logging_imu
bool	m_enable_logging_magnetic_field
bool	m_enable_logging_packets
bool	m_enable_logging_pose
bool	m_enable_logging_pressure
bool	m_enable_logging_temperature
bool	m_enableLogging
bool	m_enableParameters
bool	m_isEmergency
std::vector < crazyflie_driver::LogBlock >	m_logBlocks
float	m_pitch_trim
ros::Publisher	m_pubBattery
ros::Publisher	m_pubImu
std::vector< ros::Publisher >	m_pubLogDataGeneric
ros::Publisher	m_pubMag
ros::Publisher	m_pubPackets
ros::Publisher	m_pubPose
ros::Publisher	m_pubPressure
ros::Publisher	m_pubRssi
ros::Publisher	m_pubTemp
float	m_roll_trim
ros::ServiceServer	m_sendPacketServer
bool	m_sentExternalPosition
bool	m_sentSetpoint
ros::ServiceServer	m_serviceEmergency
ros::ServiceServer	m_serviceGoTo
ros::ServiceServer	m_serviceLand
ros::ServiceServer	m_serviceSetGroupMask
ros::ServiceServer	m_serviceStartTrajectory
ros::ServiceServer	m_serviceStop
ros::ServiceServer	m_serviceTakeoff
ros::ServiceServer	m_serviceUpdateParams
ros::ServiceServer	m_serviceUploadTrajectory
ros::Subscriber	m_subscribeCmdFullState
ros::Subscriber	m_subscribeCmdHover
ros::Subscriber	m_subscribeCmdPosition
ros::Subscriber	m_subscribeCmdStop
ros::Subscriber	m_subscribeCmdVel
ros::Subscriber	m_subscribeExternalPose
ros::Subscriber	m_subscribeExternalPosition
std::string	m_tf_prefix
std::thread	m_thread
bool	m_use_ros_time

Detailed Description

Definition at line 82 of file crazyflie_server.cpp.

Constructor & Destructor Documentation

CrazyflieROS::CrazyflieROS	(	const std::string &	link_uri,
		const std::string &	tf_prefix,
		float	roll_trim,
		float	pitch_trim,
		bool	enable_logging,
		bool	enable_parameters,
		std::vector< crazyflie_driver::LogBlock > &	log_blocks,
		bool	use_ros_time,
		bool	enable_logging_imu,
		bool	enable_logging_temperature,
		bool	enable_logging_magnetic_field,
		bool	enable_logging_pressure,
		bool	enable_logging_battery,
		bool	enable_logging_pose,
		bool	enable_logging_packets
	)		`[inline]`

Definition at line 85 of file crazyflie_server.cpp.

Member Function Documentation

struct CrazyflieROS::logImu CrazyflieROS::__attribute__ ( (packed) ) [private]

struct CrazyflieROS::log2 CrazyflieROS::__attribute__ ( (packed) ) [private]

struct CrazyflieROS::logPose CrazyflieROS::__attribute__ ( (packed) ) [private]

void CrazyflieROS::cmdFullStateSetpoint ( const crazyflie_driver::FullState::ConstPtr & msg ) [inline, private]

Definition at line 320 of file crazyflie_server.cpp.

void CrazyflieROS::cmdHoverSetpoint ( const crazyflie_driver::Hover::ConstPtr & msg ) [inline, private]

Definition at line 220 of file crazyflie_server.cpp.

void CrazyflieROS::cmdPositionSetpoint ( const crazyflie_driver::Position::ConstPtr & msg ) [inline, private]

Definition at line 247 of file crazyflie_server.cpp.

void CrazyflieROS::cmdStop ( const std_msgs::Empty::ConstPtr & msg ) [inline, private]

Definition at line 236 of file crazyflie_server.cpp.

void CrazyflieROS::cmdVelChanged ( const geometry_msgs::Twist::ConstPtr & msg ) [inline, private]

Definition at line 306 of file crazyflie_server.cpp.

bool CrazyflieROS::emergency	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[inline, private]`

Definition at line 202 of file crazyflie_server.cpp.

bool CrazyflieROS::goTo	(	crazyflie_driver::GoTo::Request &	req,
		crazyflie_driver::GoTo::Response &	res
	)		`[inline, private]`

Definition at line 765 of file crazyflie_server.cpp.

bool CrazyflieROS::land	(	crazyflie_driver::Land::Request &	req,
		crazyflie_driver::Land::Response &	res
	)		`[inline, private]`

Definition at line 747 of file crazyflie_server.cpp.

void CrazyflieROS::onConsole ( const char * msg ) [inline, private]

Definition at line 710 of file crazyflie_server.cpp.

void CrazyflieROS::onEmptyAck ( const crtpPlatformRSSIAck * data ) [inline, private]

Definition at line 697 of file crazyflie_server.cpp.

void CrazyflieROS::onGenericPacket ( const ITransport::Ack & ack ) [inline, private]

Definition at line 721 of file crazyflie_server.cpp.

void CrazyflieROS::onImuData	(	uint32_t	time_in_ms,
		logImu *	data
	)		`[inline, private]`

Definition at line 585 of file crazyflie_server.cpp.

void CrazyflieROS::onLinkQuality ( float linkQuality ) [inline, private]

Definition at line 704 of file crazyflie_server.cpp.

void CrazyflieROS::onLog2Data	(	uint32_t	time_in_ms,
		log2 *	data
	)		`[inline, private]`

Definition at line 610 of file crazyflie_server.cpp.

void CrazyflieROS::onLogCustom	(	uint32_t	time_in_ms,
		std::vector< double > *	values,
		void *	userData
	)		`[inline, private]`

Definition at line 681 of file crazyflie_server.cpp.

void CrazyflieROS::onPoseData	(	uint32_t	time_in_ms,
		logPose *	data
	)		`[inline, private]`

Definition at line 656 of file crazyflie_server.cpp.

void CrazyflieROS::poseMeasurementChanged ( const geometry_msgs::PoseStamped::ConstPtr & msg ) [inline, private]

Definition at line 361 of file crazyflie_server.cpp.

void CrazyflieROS::positionMeasurementChanged ( const geometry_msgs::PointStamped::ConstPtr & msg ) [inline, private]

Definition at line 354 of file crazyflie_server.cpp.

void CrazyflieROS::run ( ) [inline, private]

Definition at line 370 of file crazyflie_server.cpp.

bool CrazyflieROS::sendPacket	(	crazyflie_driver::sendPacket::Request &	req,
		crazyflie_driver::sendPacket::Response &	res
	)		`[inline]`

Service callback which transmits a packet to the crazyflie

Parameters:

req	The service request, which contains a crtpPacket to transmit.
res	The service response, which is not used.

Returns:: returns true always

Convert the message struct to the packet struct

Definition at line 160 of file crazyflie_server.cpp.

bool CrazyflieROS::setGroupMask	(	crazyflie_driver::SetGroupMask::Request &	req,
		crazyflie_driver::SetGroupMask::Response &	res
	)		`[inline, private]`

Definition at line 729 of file crazyflie_server.cpp.

bool CrazyflieROS::startTrajectory	(	crazyflie_driver::StartTrajectory::Request &	req,
		crazyflie_driver::StartTrajectory::Response &	res
	)		`[inline, private]`

Definition at line 803 of file crazyflie_server.cpp.

void CrazyflieROS::stop ( ) [inline]

Definition at line 147 of file crazyflie_server.cpp.

bool CrazyflieROS::stop	(	crazyflie_driver::Stop::Request &	req,
		crazyflie_driver::Stop::Response &	res
	)		`[inline, private]`

Definition at line 756 of file crazyflie_server.cpp.

bool CrazyflieROS::takeoff	(	crazyflie_driver::Takeoff::Request &	req,
		crazyflie_driver::Takeoff::Response &	res
	)		`[inline, private]`

Definition at line 738 of file crazyflie_server.cpp.

template<class T , class U >

void CrazyflieROS::updateParam	(	uint8_t	id,
		const std::string &	ros_param
	)		`[inline, private]`

Definition at line 214 of file crazyflie_server.cpp.

bool CrazyflieROS::updateParams	(	crazyflie_driver::UpdateParams::Request &	req,
		crazyflie_driver::UpdateParams::Response &	res
	)		`[inline, private]`

Definition at line 261 of file crazyflie_server.cpp.

bool CrazyflieROS::uploadTrajectory	(	crazyflie_driver::UploadTrajectory::Request &	req,
		crazyflie_driver::UploadTrajectory::Response &	res
	)		`[inline, private]`