setpoint_accel.cpp

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/*
 * Copyright 2014 Nuno Marques.
 *
 * This file is part of the mavros package and subject to the license terms
 * in the top-level LICENSE file of the mavros repository.
 * https://github.com/mavlink/mavros/tree/master/LICENSE.md
 */

#include <mavros/utils.h>
#include <mavros/mavros_plugin.h>
#include <mavros/setpoint_mixin.h>
#include <eigen_conversions/eigen_msg.h>

#include <geometry_msgs/Vector3Stamped.h>

namespace mavros {
namespace std_plugins {
class SetpointAccelerationPlugin : public plugin::PluginBase,
        private plugin::SetPositionTargetLocalNEDMixin<SetpointAccelerationPlugin> {
public:
        SetpointAccelerationPlugin() : PluginBase(),
                sp_nh("~setpoint_accel"),
                send_force(false)
        { }

        void initialize(UAS &uas_) override
        {
                PluginBase::initialize(uas_);

                sp_nh.param("send_force", send_force, false);

                accel_sub = sp_nh.subscribe("accel", 10, &SetpointAccelerationPlugin::accel_cb, this);
        }

        Subscriptions get_subscriptions() override
        {
                return { /* Rx disabled */ };
        }

private:
        friend class SetPositionTargetLocalNEDMixin;
        ros::NodeHandle sp_nh;

        ros::Subscriber accel_sub;

        bool send_force;

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

        void send_setpoint_acceleration(const ros::Time &stamp, Eigen::Vector3d &accel_enu)
        {
                using mavlink::common::MAV_FRAME;

                /* Documentation start from bit 1 instead 0.
                 * Ignore position and velocity vectors, yaw and yaw rate
                 */
                uint16_t ignore_all_except_a_xyz = (3 << 10) | (7 << 3) | (7 << 0);

                if (send_force)
                        ignore_all_except_a_xyz |= (1 << 9);

                auto accel = ftf::transform_frame_enu_ned(accel_enu);

                set_position_target_local_ned(stamp.toNSec() / 1000000,
                                        utils::enum_value(MAV_FRAME::LOCAL_NED),
                                        ignore_all_except_a_xyz,
                                        Eigen::Vector3d::Zero(),
                                        Eigen::Vector3d::Zero(),
                                        accel,
                                        0.0, 0.0);
        }

        /* -*- callbacks -*- */

        void accel_cb(const geometry_msgs::Vector3Stamped::ConstPtr &req) {
                Eigen::Vector3d accel_enu;

                tf::vectorMsgToEigen(req->vector, accel_enu);
                send_setpoint_acceleration(req->header.stamp, accel_enu);
        }
};
}       // namespace std_plugins
}       // namespace mavros

#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(mavros::std_plugins::SetpointAccelerationPlugin, mavros::plugin::PluginBase)