Setpoint position plugin. More...
Public Member Functions | |
Subscriptions | get_subscriptions () override |
Return vector of MAVLink message subscriptions (handlers) More... | |
void | initialize (UAS &uas_) override |
Plugin initializer. More... | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | SetpointPositionPlugin () |
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virtual | ~PluginBase () |
Private Member Functions | |
void | gps_cb (const sensor_msgs::NavSatFix::ConstPtr &msg) |
void | local_cb (const geometry_msgs::PoseStamped::ConstPtr &msg) |
void | send_position_target (const ros::Time &stamp, const Eigen::Affine3d &tr) |
Send setpoint to FCU position controller. More... | |
bool | set_mav_frame_cb (mavros_msgs::SetMavFrame::Request &req, mavros_msgs::SetMavFrame::Response &res) |
void | setpoint_cb (const geometry_msgs::PoseStamped::ConstPtr &req) |
void | setpointg2l_cb (const geographic_msgs::GeoPoseStamped::ConstPtr &req) |
void | setpointg_cb (const geographic_msgs::GeoPoseStamped::ConstPtr &req) |
void | transform_cb (const geometry_msgs::TransformStamped &transform) |
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void | set_position_target_local_ned (uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, Eigen::Vector3d p, Eigen::Vector3d v, Eigen::Vector3d af, float yaw, float yaw_rate) |
Message specification: https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED . More... | |
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void | set_position_target_global_int (uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, int32_t lat_int, int32_t lon_int, float alt, Eigen::Vector3d v, Eigen::Vector3d af, float yaw, float yaw_rate) |
Message specification: https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT . More... | |
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void | tf2_start (const char *_thd_name, void(SetpointPositionPlugin::*cbp)(const geometry_msgs::TransformStamped &)) |
start tf listener More... | |
void | tf2_start (const char *_thd_name, message_filters::Subscriber< T > &topic_sub, void(SetpointPositionPlugin::*cbp)(const geometry_msgs::TransformStamped &, const typename T::ConstPtr &)) |
start tf listener syncronized with another topic More... | |
Private Attributes | |
Eigen::Vector3d | current_gps |
geodetic coordinates LLA More... | |
Eigen::Vector3d | current_local_pos |
Current local position in ENU. More... | |
ros::Subscriber | gps_sub |
current GPS More... | |
ros::Subscriber | local_sub |
current local ENU More... | |
MAV_FRAME | mav_frame |
ros::ServiceServer | mav_frame_srv |
uint32_t | old_gps_stamp = 0 |
old time gps time stamp in [ms], to check if new gps msg is received More... | |
ros::Subscriber | setpoint_sub |
ros::Subscriber | setpointg2l_sub |
Global setpoint converted to local setpoint. More... | |
ros::Subscriber | setpointg_sub |
Global setpoint. More... | |
ros::NodeHandle | sp_nh |
ros::NodeHandle | spg_nh |
to get local position and gps coord which are not under sp_h() More... | |
std::string | tf_child_frame_id |
std::string | tf_frame_id |
bool | tf_listen |
double | tf_rate |
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std::string | tf_thd_name |
std::thread | tf_thread |
Friends | |
class | SetPositionTargetGlobalIntMixin |
class | SetPositionTargetLocalNEDMixin |
class | TF2ListenerMixin |
Additional Inherited Members | |
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using | ConstPtr = boost::shared_ptr< PluginBase const > |
using | HandlerCb = mavconn::MAVConnInterface::ReceivedCb |
generic message handler callback More... | |
using | HandlerInfo = std::tuple< mavlink::msgid_t, const char *, size_t, HandlerCb > |
Tuple: MSG ID, MSG NAME, message type into hash_code, message handler callback. More... | |
using | Ptr = boost::shared_ptr< PluginBase > |
using | Subscriptions = std::vector< HandlerInfo > |
Subscriptions vector. More... | |
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virtual void | capabilities_cb (UAS::MAV_CAP capabilities) |
virtual void | connection_cb (bool connected) |
void | enable_capabilities_cb () |
void | enable_connection_cb () |
template<class _C > | |
HandlerInfo | make_handler (const mavlink::msgid_t id, void(_C::*fn)(const mavlink::mavlink_message_t *msg, const mavconn::Framing framing)) |
template<class _C , class _T > | |
HandlerInfo | make_handler (void(_C::*fn)(const mavlink::mavlink_message_t *, _T &)) |
PluginBase () | |
Plugin constructor Should not do anything before initialize() More... | |
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UAS * | m_uas |
Setpoint position plugin.
Send setpoint positions to FCU controller.
Definition at line 36 of file setpoint_position.cpp.