CrazyflieROS Class Reference

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)
void	cmdVelocityWorldSetpoint (const crazyflie_driver::VelocityWorld::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)
bool	notifySetpointsStop (crazyflie_driver::NotifySetpointsStop::Request &req, crazyflie_driver::NotifySetpointsStop::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 (uint16_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_serviceNotifySetpointsStop
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_subscribeCmdVelocityWorld
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 84 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 87 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 )

inlineprivate

Definition at line 324 of file crazyflie_server.cpp.

void CrazyflieROS::cmdHoverSetpoint ( const crazyflie_driver::Hover::ConstPtr &  msg )

inlineprivate

Definition at line 224 of file crazyflie_server.cpp.

void CrazyflieROS::cmdPositionSetpoint ( const crazyflie_driver::Position::ConstPtr &  msg )

inlineprivate

Definition at line 251 of file crazyflie_server.cpp.

void CrazyflieROS::cmdStop ( const std_msgs::Empty::ConstPtr &  msg )

inlineprivate

Definition at line 240 of file crazyflie_server.cpp.

void CrazyflieROS::cmdVelChanged ( const geometry_msgs::Twist::ConstPtr &  msg )

inlineprivate

Definition at line 310 of file crazyflie_server.cpp.

void CrazyflieROS::cmdVelocityWorldSetpoint ( const crazyflie_driver::VelocityWorld::ConstPtr &  msg )

inlineprivate

Definition at line 358 of file crazyflie_server.cpp.

bool CrazyflieROS::emergency ( std_srvs::Empty::Request &  req, std_srvs::Empty::Response &  res  )

inlineprivate

Definition at line 206 of file crazyflie_server.cpp.

bool CrazyflieROS::goTo ( crazyflie_driver::GoTo::Request &  req, crazyflie_driver::GoTo::Response &  res  )

inlineprivate

Definition at line 788 of file crazyflie_server.cpp.

bool CrazyflieROS::land ( crazyflie_driver::Land::Request &  req, crazyflie_driver::Land::Response &  res  )

inlineprivate

Definition at line 770 of file crazyflie_server.cpp.

bool CrazyflieROS::notifySetpointsStop ( crazyflie_driver::NotifySetpointsStop::Request &  req, crazyflie_driver::NotifySetpointsStop::Response &  res  )

inlineprivate

Definition at line 835 of file crazyflie_server.cpp.

void CrazyflieROS::onConsole ( const char *  msg )

inlineprivate

Definition at line 733 of file crazyflie_server.cpp.

void CrazyflieROS::onEmptyAck ( const crtpPlatformRSSIAck *  data )

inlineprivate

Definition at line 720 of file crazyflie_server.cpp.

void CrazyflieROS::onGenericPacket ( const ITransport::Ack &  ack )

inlineprivate

Definition at line 744 of file crazyflie_server.cpp.

void CrazyflieROS::onImuData ( uint32_t  time_in_ms, logImu *  data  )

inlineprivate

Definition at line 608 of file crazyflie_server.cpp.

void CrazyflieROS::onLinkQuality ( float  linkQuality )

inlineprivate

Definition at line 727 of file crazyflie_server.cpp.

void CrazyflieROS::onLog2Data ( uint32_t  time_in_ms, log2 *  data  )

inlineprivate

Definition at line 633 of file crazyflie_server.cpp.

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

inlineprivate

Definition at line 704 of file crazyflie_server.cpp.

void CrazyflieROS::onPoseData ( uint32_t  time_in_ms, logPose *  data  )

inlineprivate

Definition at line 679 of file crazyflie_server.cpp.

void CrazyflieROS::poseMeasurementChanged ( const geometry_msgs::PoseStamped::ConstPtr &  msg )

inlineprivate

Definition at line 382 of file crazyflie_server.cpp.

void CrazyflieROS::positionMeasurementChanged ( const geometry_msgs::PointStamped::ConstPtr &  msg )

inlineprivate

Definition at line 375 of file crazyflie_server.cpp.

void CrazyflieROS::run ( )

inlineprivate

Definition at line 391 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 164 of file crazyflie_server.cpp.

bool CrazyflieROS::setGroupMask ( crazyflie_driver::SetGroupMask::Request &  req, crazyflie_driver::SetGroupMask::Response &  res  )

inlineprivate

Definition at line 752 of file crazyflie_server.cpp.

bool CrazyflieROS::startTrajectory ( crazyflie_driver::StartTrajectory::Request &  req, crazyflie_driver::StartTrajectory::Response &  res  )

inlineprivate

Definition at line 826 of file crazyflie_server.cpp.

void CrazyflieROS::stop ( )

inline

Definition at line 151 of file crazyflie_server.cpp.

bool CrazyflieROS::stop ( crazyflie_driver::Stop::Request &  req, crazyflie_driver::Stop::Response &  res  )

inlineprivate

Definition at line 779 of file crazyflie_server.cpp.

bool CrazyflieROS::takeoff ( crazyflie_driver::Takeoff::Request &  req, crazyflie_driver::Takeoff::Response &  res  )

inlineprivate

Definition at line 761 of file crazyflie_server.cpp.

template<class T , class U >

void CrazyflieROS::updateParam ( uint16_t  id, const std::string &  ros_param  )

inlineprivate

Definition at line 218 of file crazyflie_server.cpp.

bool CrazyflieROS::updateParams ( crazyflie_driver::UpdateParams::Request &  req, crazyflie_driver::UpdateParams::Response &  res  )

inlineprivate

Definition at line 265 of file crazyflie_server.cpp.

bool CrazyflieROS::uploadTrajectory ( crazyflie_driver::UploadTrajectory::Request &  req, crazyflie_driver::UploadTrajectory::Response &  res  )

inlineprivate

Definition at line 797 of file crazyflie_server.cpp.

Member Data Documentation

ros::CallbackQueue CrazyflieROS::m_callback_queue

private

Definition at line 897 of file crazyflie_server.cpp.

Crazyflie CrazyflieROS::m_cf

private

Definition at line 846 of file crazyflie_server.cpp.

bool CrazyflieROS::m_enable_logging_battery

private

Definition at line 858 of file crazyflie_server.cpp.

bool CrazyflieROS::m_enable_logging_imu

private

Definition at line 854 of file crazyflie_server.cpp.

bool CrazyflieROS::m_enable_logging_magnetic_field

private

Definition at line 856 of file crazyflie_server.cpp.

bool CrazyflieROS::m_enable_logging_packets

private

Definition at line 860 of file crazyflie_server.cpp.

bool CrazyflieROS::m_enable_logging_pose

private

Definition at line 859 of file crazyflie_server.cpp.

bool CrazyflieROS::m_enable_logging_pressure

private

Definition at line 857 of file crazyflie_server.cpp.

bool CrazyflieROS::m_enable_logging_temperature

private

Definition at line 855 of file crazyflie_server.cpp.

bool CrazyflieROS::m_enableLogging

private

Definition at line 850 of file crazyflie_server.cpp.

bool CrazyflieROS::m_enableParameters

private

Definition at line 851 of file crazyflie_server.cpp.

bool CrazyflieROS::m_isEmergency

private

Definition at line 847 of file crazyflie_server.cpp.

std::vector<crazyflie_driver::LogBlock> CrazyflieROS::m_logBlocks

private

Definition at line 852 of file crazyflie_server.cpp.

float CrazyflieROS::m_pitch_trim

private

Definition at line 849 of file crazyflie_server.cpp.

ros::Publisher CrazyflieROS::m_pubBattery

private

Definition at line 888 of file crazyflie_server.cpp.

ros::Publisher CrazyflieROS::m_pubImu

private

Definition at line 884 of file crazyflie_server.cpp.

std::vector<ros::Publisher> CrazyflieROS::m_pubLogDataGeneric

private

Definition at line 892 of file crazyflie_server.cpp.

ros::Publisher CrazyflieROS::m_pubMag

private

Definition at line 886 of file crazyflie_server.cpp.

ros::Publisher CrazyflieROS::m_pubPackets

private

Definition at line 890 of file crazyflie_server.cpp.

ros::Publisher CrazyflieROS::m_pubPose

private

Definition at line 889 of file crazyflie_server.cpp.

ros::Publisher CrazyflieROS::m_pubPressure

private

Definition at line 887 of file crazyflie_server.cpp.

ros::Publisher CrazyflieROS::m_pubRssi

private

Definition at line 891 of file crazyflie_server.cpp.

ros::Publisher CrazyflieROS::m_pubTemp

private

Definition at line 885 of file crazyflie_server.cpp.

float CrazyflieROS::m_roll_trim

private

Definition at line 848 of file crazyflie_server.cpp.

ros::ServiceServer CrazyflieROS::m_sendPacketServer

private

Definition at line 864 of file crazyflie_server.cpp.

bool CrazyflieROS::m_sentExternalPosition

private

Definition at line 894 of file crazyflie_server.cpp.

bool CrazyflieROS::m_sentSetpoint

private

Definition at line 894 of file crazyflie_server.cpp.

ros::ServiceServer CrazyflieROS::m_serviceEmergency

private

Definition at line 862 of file crazyflie_server.cpp.

ros::ServiceServer CrazyflieROS::m_serviceGoTo

private

Definition at line 871 of file crazyflie_server.cpp.

ros::ServiceServer CrazyflieROS::m_serviceLand

private

Definition at line 869 of file crazyflie_server.cpp.

ros::ServiceServer CrazyflieROS::m_serviceNotifySetpointsStop

private

Definition at line 874 of file crazyflie_server.cpp.

ros::ServiceServer CrazyflieROS::m_serviceSetGroupMask

private

Definition at line 867 of file crazyflie_server.cpp.

ros::ServiceServer CrazyflieROS::m_serviceStartTrajectory

private

Definition at line 873 of file crazyflie_server.cpp.

ros::ServiceServer CrazyflieROS::m_serviceStop

private

Definition at line 870 of file crazyflie_server.cpp.

ros::ServiceServer CrazyflieROS::m_serviceTakeoff

private

Definition at line 868 of file crazyflie_server.cpp.

ros::ServiceServer CrazyflieROS::m_serviceUpdateParams

private

Definition at line 863 of file crazyflie_server.cpp.

ros::ServiceServer CrazyflieROS::m_serviceUploadTrajectory

private

Definition at line 872 of file crazyflie_server.cpp.

ros::Subscriber CrazyflieROS::m_subscribeCmdFullState

private

Definition at line 877 of file crazyflie_server.cpp.

ros::Subscriber CrazyflieROS::m_subscribeCmdHover

private

Definition at line 878 of file crazyflie_server.cpp.

ros::Subscriber CrazyflieROS::m_subscribeCmdPosition

private

Definition at line 880 of file crazyflie_server.cpp.

ros::Subscriber CrazyflieROS::m_subscribeCmdStop

private

Definition at line 879 of file crazyflie_server.cpp.

ros::Subscriber CrazyflieROS::m_subscribeCmdVel

private

Definition at line 876 of file crazyflie_server.cpp.

ros::Subscriber CrazyflieROS::m_subscribeCmdVelocityWorld

private

Definition at line 883 of file crazyflie_server.cpp.

ros::Subscriber CrazyflieROS::m_subscribeExternalPose

private

Definition at line 882 of file crazyflie_server.cpp.

ros::Subscriber CrazyflieROS::m_subscribeExternalPosition

private

Definition at line 881 of file crazyflie_server.cpp.

std::string CrazyflieROS::m_tf_prefix

private

Definition at line 845 of file crazyflie_server.cpp.

std::thread CrazyflieROS::m_thread

private

Definition at line 896 of file crazyflie_server.cpp.

bool CrazyflieROS::m_use_ros_time

private

Definition at line 853 of file crazyflie_server.cpp.

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

• crazyflie_server.cpp