#include <RosThread.h>

Public Member Functions
void	comCb (const std_msgs::StringConstPtr str)
void	droneposeCb (const tum_ardrone::filter_stateConstPtr statePtr)
void	joyCb (const sensor_msgs::JoyConstPtr joy_msg)
void	landCb (std_msgs::EmptyConstPtr)
void	navdataCb (const ardrone_autonomy::NavdataConstPtr navdataPtr)
void	publishCommand (std::string c)
	RosThread (void)
void	sendControlToDrone (ControlCommand cmd)
void	sendFlattrim ()
void	sendLand ()
void	sendTakeoff ()
void	sendToggleCam ()
void	sendToggleState ()
void	startSystem ()
void	stopSystem ()
void	takeoffCb (std_msgs::EmptyConstPtr)
void	toggleStateCb (std_msgs::EmptyConstPtr)
void	velCb (const geometry_msgs::TwistConstPtr vel)
	~RosThread (void)
Public Attributes
tum_ardrone_gui *	gui
ControlCommand	lastJoyControlSent
bool	lastL1Pressed
bool	lastR1Pressed
Private Member Functions
void	run ()
Private Attributes
ros::Subscriber	dronepose_sub
unsigned int	dronePoseCount
ros::ServiceClient	flattrim_srv
std_srvs::Empty	flattrim_srv_srvs
ros::Subscriber	joy_sub
unsigned int	joyCount
bool	keepRunning
ros::Publisher	land_pub
ros::Subscriber	land_sub
ros::Subscriber	navdata_sub
unsigned int	navdataCount
ros::NodeHandle	nh_
ros::Publisher	takeoff_pub
ros::Subscriber	takeoff_sub
ros::ServiceClient	toggleCam_srv
std_srvs::Empty	toggleCam_srv_srvs
ros::Publisher	toggleState_pub
ros::Subscriber	toggleState_sub
ros::Publisher	tum_ardrone_pub
ros::Subscriber	tum_ardrone_sub
ros::Publisher	vel_pub
ros::Subscriber	vel_sub
unsigned int	velCount
unsigned int	velCount100ms
Static Private Attributes
static pthread_mutex_t	send_CS = PTHREAD_MUTEX_INITIALIZER

Detailed Description

Definition at line 51 of file RosThread.h.

Constructor & Destructor Documentation

RosThread::RosThread ( void )

Definition at line 32 of file RosThread.cpp.

RosThread::~RosThread ( void )

Definition at line 41 of file RosThread.cpp.

Member Function Documentation

void RosThread::comCb ( const std_msgs::StringConstPtr str )

Definition at line 150 of file RosThread.cpp.

void RosThread::droneposeCb ( const tum_ardrone::filter_stateConstPtr statePtr )

Definition at line 72 of file RosThread.cpp.

void RosThread::joyCb ( const sensor_msgs::JoyConstPtr joy_msg )

Definition at line 97 of file RosThread.cpp.

void RosThread::landCb ( std_msgs::EmptyConstPtr )

Definition at line 59 of file RosThread.cpp.

void RosThread::navdataCb ( const ardrone_autonomy::NavdataConstPtr navdataPtr )

Definition at line 81 of file RosThread.cpp.

void RosThread::publishCommand ( std::string c )

Definition at line 234 of file RosThread.cpp.

void RosThread::run ( ) [private]

Definition at line 165 of file RosThread.cpp.

void RosThread::sendControlToDrone ( ControlCommand cmd )

Definition at line 243 of file RosThread.cpp.

void RosThread::sendFlattrim ( )

Definition at line 284 of file RosThread.cpp.

void RosThread::sendLand ( )

Definition at line 260 of file RosThread.cpp.

void RosThread::sendTakeoff ( )

Definition at line 266 of file RosThread.cpp.

void RosThread::sendToggleCam ( )

Definition at line 278 of file RosThread.cpp.

void RosThread::sendToggleState ( )

Definition at line 272 of file RosThread.cpp.

void RosThread::startSystem ( )

Definition at line 47 of file RosThread.cpp.

void RosThread::stopSystem ( )

Definition at line 53 of file RosThread.cpp.

void RosThread::takeoffCb ( std_msgs::EmptyConstPtr )

Definition at line 67 of file RosThread.cpp.

void RosThread::toggleStateCb ( std_msgs::EmptyConstPtr )

Definition at line 63 of file RosThread.cpp.

void RosThread::velCb ( const geometry_msgs::TwistConstPtr vel )

Definition at line 76 of file RosThread.cpp.

Member Data Documentation

ros::Subscriber RosThread::dronepose_sub [private]

Definition at line 61 of file RosThread.h.

unsigned int RosThread::dronePoseCount [private]

Definition at line 83 of file RosThread.h.

ros::ServiceClient RosThread::flattrim_srv [private]

Definition at line 73 of file RosThread.h.

std_srvs::Empty RosThread::flattrim_srv_srvs [private]

Definition at line 74 of file RosThread.h.

tum_ardrone_gui* RosThread::gui

Definition at line 99 of file RosThread.h.

ros::Subscriber RosThread::joy_sub [private]

Definition at line 67 of file RosThread.h.

unsigned int RosThread::joyCount [private]

Definition at line 86 of file RosThread.h.

bool RosThread::keepRunning [private]

Definition at line 58 of file RosThread.h.

ros::Publisher RosThread::land_pub [private]

Definition at line 69 of file RosThread.h.

ros::Subscriber RosThread::land_sub [private]

Definition at line 76 of file RosThread.h.

ControlCommand RosThread::lastJoyControlSent

Definition at line 111 of file RosThread.h.

bool RosThread::lastL1Pressed

Definition at line 112 of file RosThread.h.

bool RosThread::lastR1Pressed

Definition at line 113 of file RosThread.h.

ros::Subscriber RosThread::navdata_sub [private]

Definition at line 66 of file RosThread.h.

unsigned int RosThread::navdataCount [private]

Definition at line 85 of file RosThread.h.

ros::NodeHandle RosThread::nh_ [private]

Definition at line 80 of file RosThread.h.

pthread_mutex_t RosThread::send_CS = PTHREAD_MUTEX_INITIALIZER [static, private]

This file is part of tum_ardrone.

tum_ardrone is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

tum_ardrone is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with tum_ardrone. If not, see <http://www.gnu.org/licenses/>.

Definition at line 89 of file RosThread.h.

ros::Publisher RosThread::takeoff_pub [private]

Definition at line 68 of file RosThread.h.

ros::Subscriber RosThread::takeoff_sub [private]

Definition at line 75 of file RosThread.h.

ros::ServiceClient RosThread::toggleCam_srv [private]

Definition at line 71 of file RosThread.h.

std_srvs::Empty RosThread::toggleCam_srv_srvs [private]

Definition at line 72 of file RosThread.h.

ros::Publisher RosThread::toggleState_pub [private]

Definition at line 70 of file RosThread.h.