quadrotor_bag_builder.cc
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2 Copyright (c) 2017, Alexander W. Winkler. All rights reserved.
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29 
30 #include <ros/ros.h>
31 #include <rosbag/bag.h>
32 
33 #include <xpp_msgs/RobotStateJoint.h>
34 #include <xpp_states/convert.h>
35 #include <xpp_states/state.h>
36 
37 
38 using namespace xpp;
39 
40 int main(int argc, char *argv[])
41 {
42  // creates a bag file wherever executable is run (usually ~/.ros/)
43  rosbag::Bag bag;
44  bag.open("quadrotor_traj.bag", rosbag::bagmode::Write);
45 
46  // visualize the state of a drone (only has a base)
47  State3d base;
48 
49  // create a sequence of states for a total duration of T spaced 0.01s apart.
50  double T = 2*M_PI;
51  double dt = 0.01;
52  double t = 1e-6;
53  while (t < T)
54  {
55  // base and foot follow half a sine motion up and down
56  base.lin.p_.z() = 0.7 - 0.5*sin(t); //[m]
57  base.lin.p_.x() = 1.0/T*t; //[m]
58 
59  double roll = 30./180*M_PI*sin(t);
60  base.ang.q = GetQuaternionFromEulerZYX(0.0, 0.0, roll);
61 
62  // save the state message with current time in the bag
63  auto timestamp = ::ros::Time(t);
64 
65  xpp_msgs::RobotStateJoint msg;
66  msg.base = Convert::ToRos(base);
67  bag.write("xpp/joint_quadrotor_des", timestamp, msg);
68 
69  t += dt;
70  }
71 
72  std::string bag_file = bag.getFileName(); // save location before closing
73  bag.close();
74 
75  // plays back the states at desired speeds.
76  // can now also use all the tools from rosbag to pause, speed-up, inspect,
77  // debug the trajectory.
78  // e.g. rosbag -play -r 0.2 /path/to/bag.bag
79  int success = system(("rosbag play " + bag_file).c_str());
80 
81  return 0;
82 }
83 
Quaterniond q
static xpp_msgs::StateLin3d ToRos(const StateLin3d &xpp)
void open(std::string const &filename, uint32_t mode=bagmode::Read)
std::string getFileName() const
static Quaterniond GetQuaternionFromEulerZYX(double yaw, double pitch, double roll)
void close()
int main(int argc, char *argv[])
StateAng3d ang
StateLin3d lin
INLINE Rall1d< T, V, S > sin(const Rall1d< T, V, S > &arg)
void write(std::string const &topic, ros::MessageEvent< T > const &event)


xpp_examples
Author(s): Alexander W. Winkler
autogenerated on Sun Apr 7 2019 02:34:57