CrazyflieROS Class Reference

List of all members.

Classes
struct	log2
struct	logImu
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_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))
void	cmdVelChanged (const geometry_msgs::Twist::ConstPtr &msg)
bool	emergency (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
void	onEmptyAck (const crtpPlatformRSSIAck *data)
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	positionMeasurementChanged (const geometry_msgs::PointStamped::ConstPtr &msg)
void	publishPackets ()
void	run ()
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)
Private Attributes
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_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_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_serviceUpdateParams
ros::Subscriber	m_subscribeCmdVel
ros::Subscriber	m_subscribeExternalPosition
std::string	m_tf_prefix
std::thread	m_thread
bool	m_use_ros_time

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Detailed Description

Definition at line 38 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_packets
	)		[inline]

Definition at line 41 of file crazyflie_server.cpp.

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Member Function Documentation

struct CrazyflieROS::logImu CrazyflieROS::__attribute__

(

(packed)

)

[private]

struct CrazyflieROS::log2 CrazyflieROS::__attribute__

(

(packed)

)

[private]

void CrazyflieROS::cmdVelChanged

(

const geometry_msgs::Twist::ConstPtr &

msg

)

[inline, private]

Definition at line 255 of file crazyflie_server.cpp.

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

Definition at line 193 of file crazyflie_server.cpp.

void CrazyflieROS::onEmptyAck

(

const crtpPlatformRSSIAck *

data

)

[inline, private]

Definition at line 511 of file crazyflie_server.cpp.

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

Definition at line 424 of file crazyflie_server.cpp.

void CrazyflieROS::onLinkQuality

(

float

linkQuality

)

[inline, private]

Definition at line 518 of file crazyflie_server.cpp.

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

Definition at line 449 of file crazyflie_server.cpp.

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

Definition at line 495 of file crazyflie_server.cpp.

void CrazyflieROS::positionMeasurementChanged

(

const geometry_msgs::PointStamped::ConstPtr &

msg

)

[inline, private]

Definition at line 269 of file crazyflie_server.cpp.

void CrazyflieROS::publishPackets

(

)

[inline, private]

Publishes any generic packets en-queued by the crazyflie to a crtpPacket topic.

Definition at line 154 of file crazyflie_server.cpp.

void CrazyflieROS::run

(

)

[inline, private]

Definition at line 276 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 132 of file crazyflie_server.cpp.

void CrazyflieROS::stop

(

)

[inline]

Definition at line 119 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 204 of file crazyflie_server.cpp.

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

Definition at line 210 of file crazyflie_server.cpp.

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Member Data Documentation

Crazyflie CrazyflieROS::m_cf [private]

Definition at line 525 of file crazyflie_server.cpp.

bool CrazyflieROS::m_enable_logging_battery [private]

Definition at line 538 of file crazyflie_server.cpp.

bool CrazyflieROS::m_enable_logging_imu [private]

Definition at line 534 of file crazyflie_server.cpp.

bool CrazyflieROS::m_enable_logging_magnetic_field [private]

Definition at line 536 of file crazyflie_server.cpp.

bool CrazyflieROS::m_enable_logging_packets [private]

Definition at line 539 of file crazyflie_server.cpp.

bool CrazyflieROS::m_enable_logging_pressure [private]

Definition at line 537 of file crazyflie_server.cpp.

bool CrazyflieROS::m_enable_logging_temperature [private]

Definition at line 535 of file crazyflie_server.cpp.

bool CrazyflieROS::m_enableLogging [private]

Definition at line 530 of file crazyflie_server.cpp.

bool CrazyflieROS::m_enableParameters [private]

Definition at line 531 of file crazyflie_server.cpp.

bool CrazyflieROS::m_isEmergency [private]

Definition at line 527 of file crazyflie_server.cpp.

std::vector<crazyflie_driver::LogBlock> CrazyflieROS::m_logBlocks [private]

Definition at line 532 of file crazyflie_server.cpp.

float CrazyflieROS::m_pitch_trim [private]

Definition at line 529 of file crazyflie_server.cpp.

ros::Publisher CrazyflieROS::m_pubBattery [private]

Definition at line 549 of file crazyflie_server.cpp.

ros::Publisher CrazyflieROS::m_pubImu [private]

Definition at line 545 of file crazyflie_server.cpp.

std::vector<ros::Publisher> CrazyflieROS::m_pubLogDataGeneric [private]

Definition at line 552 of file crazyflie_server.cpp.

ros::Publisher CrazyflieROS::m_pubMag [private]

Definition at line 547 of file crazyflie_server.cpp.

ros::Publisher CrazyflieROS::m_pubPackets [private]

Definition at line 550 of file crazyflie_server.cpp.

ros::Publisher CrazyflieROS::m_pubPressure [private]

Definition at line 548 of file crazyflie_server.cpp.

ros::Publisher CrazyflieROS::m_pubRssi [private]

Definition at line 551 of file crazyflie_server.cpp.

ros::Publisher CrazyflieROS::m_pubTemp [private]

Definition at line 546 of file crazyflie_server.cpp.

float CrazyflieROS::m_roll_trim [private]

Definition at line 528 of file crazyflie_server.cpp.

ros::ServiceServer CrazyflieROS::m_sendPacketServer [private]

Definition at line 148 of file crazyflie_server.cpp.

bool CrazyflieROS::m_sentExternalPosition [private]

Definition at line 554 of file crazyflie_server.cpp.

bool CrazyflieROS::m_sentSetpoint [private]

Definition at line 554 of file crazyflie_server.cpp.

ros::ServiceServer CrazyflieROS::m_serviceEmergency [private]

Definition at line 541 of file crazyflie_server.cpp.

ros::ServiceServer CrazyflieROS::m_serviceUpdateParams [private]

Definition at line 542 of file crazyflie_server.cpp.

ros::Subscriber CrazyflieROS::m_subscribeCmdVel [private]

Definition at line 543 of file crazyflie_server.cpp.

ros::Subscriber CrazyflieROS::m_subscribeExternalPosition [private]

Definition at line 544 of file crazyflie_server.cpp.

std::string CrazyflieROS::m_tf_prefix [private]

Definition at line 526 of file crazyflie_server.cpp.

std::thread CrazyflieROS::m_thread [private]

Definition at line 556 of file crazyflie_server.cpp.

bool CrazyflieROS::m_use_ros_time [private]

Definition at line 533 of file crazyflie_server.cpp.

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The documentation for this class was generated from the following file:

• crazyflie_server.cpp