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navdata_packet.header now filled, also using cmd_vel.angular.x/y != 0 for hover #38

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merged 2 commits into from
Nov 23, 2012
Merged

navdata_packet.header now filled, also using cmd_vel.angular.x/y != 0 for hover #38

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01185e9
cmd_vel.angular.x/y != 0 will disable hover mode
mikehamer Nov 23, 2012
b3ef0f1
navdata_<packet>.header is now correctly filled
mikehamer Nov 23, 2012
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3 changes: 0 additions & 3 deletions launch/ardrone_aggressive.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -24,9 +24,6 @@
<param name="do_imu_caliberation" value="false" />
<param name="tf_prefix" value="mydrone" />

<param name="command_disable_hover" value="true" />
<param name="command_always_send" value="true" />

<param name="enable_navdata_demo" value="true" />
<param name="enable_navdata_time" value="true" />
<param name="enable_navdata_raw_measures" value="true" />
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14 changes: 9 additions & 5 deletions scripts/NavdataMessageDefinitionsTemplate.c
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
% for item in structs:
ros::Publisher pub_${item['struct_name']};
bool enabled_${item['struct_name']};
ardrone_autonomy::${item['struct_name']} ${item['struct_name']}_msg;
% endfor

bool enabled_legacy_navdata;
Expand All @@ -30,6 +31,8 @@
#ifdef NAVDATA_STRUCTS_SOURCE
void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t n)
{
const ros::Time now = ros::Time::now();

if(!initialized_navdata_publishers)
{
initialized_navdata_publishers = true;
Expand Down Expand Up @@ -63,26 +66,27 @@ void ARDroneDriver::PublishNavdataTypes(navdata_unpacked_t n)
% for item in structs:
if(enabled_${item['struct_name']} && pub_${item['struct_name']}.getNumSubscribers()>0)
{
ardrone_autonomy::${item['struct_name']} msg;
msg.drone_time = ((double)ardrone_time_to_usec(n.navdata_time.time))/1000000.0;
${item['struct_name']}_msg.drone_time = ((double)ardrone_time_to_usec(n.navdata_time.time))/1000000.0;
${item['struct_name']}_msg.header.stamp = now;
${item['struct_name']}_msg.header.frame_id = droneFrameBase;

% for member in item['members']:
% if member['array_size'] is None:
{\
${format_member(item, member, None)}
msg.${member['name']} = m;
${item['struct_name']}_msg.${member['name']} = m;
}

% else:
for(int i=0; i<${member['array_size']}; i++)
{\
${format_member(item, member, 'i')}
msg.${member['name']}.push_back(m);
${item['struct_name']}_msg.${member['name']}.push_back(m);
}

% endif
% endfor
pub_${item['struct_name']}.publish(msg);
pub_${item['struct_name']}.publish(${item['struct_name']}_msg);
}

//-------------------------
Expand Down
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