common.h
Go to the documentation of this file.00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, 00005 * Ivan Dryanovski <ivan.dryanovski@gmail.com> 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of CCNY Robotics Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 */ 00035 00036 #ifndef MAV_MSGS_ASCTEC_COMMON_H 00037 #define MAV_MSGS_ASCTEC_COMMON_H 00038 00039 namespace mav 00040 { 00041 00042 // **** mav ROS namespace and topics 00043 00044 const std::string ROS_NAMESPACE = "mav"; 00045 00046 const std::string STATE_TOPIC = "state"; 00047 const std::string POSE_TOPIC = "pose"; 00048 const std::string VEL_X_TOPIC = "vel_x"; 00049 const std::string VEL_Y_TOPIC = "vel_y"; 00050 const std::string VEL_TOPIC = "vel"; 00051 const std::string LASER_ODOM_TOPIC = "laser_odom"; 00052 const std::string IMU_TOPIC = "imu"; 00053 const std::string CMD_POSE_TOPIC = "cmd_pose"; 00054 const std::string CMD_VEL_TOPIC = "cmd_vel"; 00055 const std::string CMD_HEIGHT_TOPIC = "cmd_height"; 00056 00057 const std::string CMD_THRUST_TOPIC = "cmd_thrust"; 00058 const std::string CMD_ROLL_TOPIC = "cmd_roll"; 00059 const std::string CMD_PITCH_TOPIC = "cmd_pitch"; 00060 const std::string CMD_YAW_RATE_TOPIC = "cmd_yaw_rate"; 00061 00062 const std::string HEIGHT_TO_BASE_TOPIC = "height_to_base"; 00063 const std::string HEIGHT_TO_FOOTPRINT_TOPIC = "height_to_footprint"; 00064 const std::string P_HEIGHT_TOPIC = "pressure_height"; 00065 const std::string P_HEIGHT_FILTERED_TOPIC = "pressure_height_filtered"; 00066 00067 enum MAVState {OFF = 0, IDLE = 1, FLYING = 2}; 00068 00069 }; 00070 00071 #endif // MAV_MSGS_ASCTEC_COMMON_H