setpoint_velocity.cpp

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/*
 * Copyright 2014 Nuno Marques.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include <mavros/mavros_plugin.h>
#include <mavros/setpoint_mixin.h>
#include <pluginlib/class_list_macros.h>

#include <geometry_msgs/TwistStamped.h>

namespace mavplugin {

class SetpointVelocityPlugin : public MavRosPlugin,
        private SetPositionTargetLocalNEDMixin<SetpointVelocityPlugin> {
public:
        SetpointVelocityPlugin() :
                uas(nullptr)
        { };

        void initialize(UAS &uas_,
                        ros::NodeHandle &nh,
                        diagnostic_updater::Updater &diag_updater)
        {
                uas = &uas_;
                sp_nh = ros::NodeHandle(nh, "setpoint");

                //cmd_vel usually is the topic used for velocity control in many controllers / planners
                vel_sub = sp_nh.subscribe("cmd_vel", 10, &SetpointVelocityPlugin::vel_cb, this);
        }

        const std::string get_name() const {
                return "SetpointVelocity";
        }

        const message_map get_rx_handlers() {
                return { /* Rx disabled */ };
        }

private:
        friend class SetPositionTargetLocalNEDMixin;
        UAS *uas;

        ros::NodeHandle sp_nh;
        ros::Subscriber vel_sub;

        /* -*- mid-level helpers -*- */

        void send_setpoint_velocity(const ros::Time &stamp, float vx, float vy, float vz, float yaw_rate) {

                /* Documentation start from bit 1 instead 0,
                 * Ignore position and accel vectors, yaw
                 */
                uint16_t ignore_all_except_v_xyz_yr = (1<<10)|(7<<6)|(7<<0);

                // ENU->NED. Issue #49.
                set_position_target_local_ned(stamp.toNSec() / 1000000,
                                MAV_FRAME_LOCAL_NED,
                                ignore_all_except_v_xyz_yr,
                                0.0, 0.0, 0.0,
                                vy, vx, -vz,
                                0.0, 0.0, 0.0,
                                0.0, yaw_rate);
        }

        /* -*- callbacks -*- */

        void vel_cb(const geometry_msgs::TwistStamped::ConstPtr &req) {
                send_setpoint_velocity(req->header.stamp,
                                        req->twist.linear.x,
                                        req->twist.linear.y,
                                        req->twist.linear.z,
                                        req->twist.angular.z);
        }
};

}; // namespace mavplugin

PLUGINLIB_EXPORT_CLASS(mavplugin::SetpointVelocityPlugin, mavplugin::MavRosPlugin)