From f46a7adf8985f6e177dea9e6945363a896643b5e Mon Sep 17 00:00:00 2001 From: Mike Hamer Date: Wed, 14 Nov 2012 14:37:02 +0100 Subject: [PATCH] NOT FINISHED: Incorporating custom messages into code Sorry for the commit, I wanted to switch back to the main branch for a while --- src/ardrone_driver.cpp | 255 ++++++++++++++++++++++++----------------- src/ardrone_driver.h | 24 ++++ 2 files changed, 175 insertions(+), 104 deletions(-) diff --git a/src/ardrone_driver.cpp b/src/ardrone_driver.cpp index f67163d4..ab2eb5ad 100644 --- a/src/ardrone_driver.cpp +++ b/src/ardrone_driver.cpp @@ -17,17 +17,37 @@ ARDroneDriver::ARDroneDriver() takeoff_sub = node_handle.subscribe("ardrone/takeoff", 1, &takeoffCallback); reset_sub = node_handle.subscribe("ardrone/reset", 1, &resetCallback); land_sub = node_handle.subscribe("ardrone/land", 1, &landCallback); - image_pub = image_transport.advertiseCamera("ardrone/image_raw", 10); - hori_pub = image_transport.advertiseCamera("ardrone/front/image_raw", 10); - vert_pub = image_transport.advertiseCamera("ardrone/bottom/image_raw", 10); - navdata_pub = node_handle.advertise("ardrone/navdata", 25); - imu_pub = node_handle.advertise("ardrone/imu", 25); - mag_pub = node_handle.advertise("ardrone/mag", 25); + image_pub = image_transport.advertiseCamera("ardrone/image_raw", CAMERA_QUEUE_SIZE); + hori_pub = image_transport.advertiseCamera("ardrone/front/image_raw", CAMERA_QUEUE_SIZE); + vert_pub = image_transport.advertiseCamera("ardrone/bottom/image_raw", CAMERA_QUEUE_SIZE); + navdata_pub = node_handle.advertise("ardrone/navdata", NAVDATA_QUEUE_SIZE); + imu_pub = node_handle.advertise("ardrone/imu", NAVDATA_QUEUE_SIZE); + mag_pub = node_handle.advertise("ardrone/mag", NAVDATA_QUEUE_SIZE); toggleCam_service = node_handle.advertiseService("ardrone/togglecam", toggleCamCallback); setCamChannel_service = node_handle.advertiseService("ardrone/setcamchannel",setCamChannelCallback ); setLedAnimation_service = node_handle.advertiseService("ardrone/setledanimation", setLedAnimationCallback); flatTrim_service = node_handle.advertiseService("ardrone/flattrim", flatTrimCallback); + // now lets publish the enabled topics! + #define NavdataStructStart(struct,name) \ + { \ + ros::param::param("~enable_"#name, &enabled_##name, false); \ + if(enabled_##name) \ + { \ + pub_##name = node_handle.advertise("ardrone/"#name, NAVDATA_QUEUE_SIZE); \ + } \ + } + #define NavdataStructMember(struct,name,ctype,rostype,member) + #define NavdataStructArray(struct,name,ctype,rostype,size,member) + #define NavdataStructEnd(struct,name) + + #include "NavdataMessageDefinitions.h" + + #undef NavdataStructEnd + #undef NavdataStructArray + #undef NavdataStructMember + #undef NavdataStructStart + /* To be honest, I am not sure why advertising a service using class members should be this complicated! One day, I should learn what is exactly happenning here. /M @@ -562,6 +582,7 @@ void ARDroneDriver::publish_navdata() { // Thread safe copy of interesting Navdata data vp_os_mutex_lock(&navdata_lock); + raw_navdata = shared_raw_navdata; navdata_detect = shared_navdata_detect; navdata_phys = shared_navdata_phys; navdata = shared_navdata; @@ -614,119 +635,145 @@ void ARDroneDriver::publish_navdata() navdata.vz -= vel_bias[2]; } - if ((navdata_pub.getNumSubscribers() == 0) && (imu_pub.getNumSubscribers() == 0) && (mag_pub.getNumSubscribers() == 0)) - return; // why bother, no one is listening. + const ros::Time _now = ros::Time::now(); + dronetime_t droneTimePacked = raw_navdata.navdata_time.time; + const double droneTime = (double)droneTimePacked.sec + ((double)dronetimePacked.usec)/(1000000.0); //unpack the packed timestamp - ardrone_autonomy::Navdata msg; + // Publish the new Navdata packets + #define NavdataStructStart(struct,name) + { + if(enabled_##name && pub_##name.getNumSubscribers() > 0) + { + ardrone_autonomy::##name msg; + msg.header.stamp=_now; + msg.header.drone_time=droneTime; - msg.header.stamp = _now; - msg.header.frame_id = droneFrameBase; - msg.batteryPercent = navdata.vbat_flying_percentage; - msg.state = (navdata.ctrl_state >> 16); - - // positive means counterclockwise rotation around axis - msg.rotX = navdata.phi / 1000.0; // tilt left/right - msg.rotY = -navdata.theta / 1000.0; // tilt forward/backward - msg.rotZ = -navdata.psi / 1000.0; // orientation - - msg.altd = navdata.altitude; // cm - msg.vx = navdata.vx; // mm/sec - msg.vy = -navdata.vy; // mm/sec - msg.vz = -navdata.vz; // mm/sec - msg.tm = arnavtime.time; - msg.ax = navdata_phys.phys_accs[ACC_X] / 1000.0; // g - msg.ay = -navdata_phys.phys_accs[ACC_Y] / 1000.0; // g - msg.az = -navdata_phys.phys_accs[ACC_Z] / 1000.0; // g - - // New stuff + #define NavdataStructMember(struct,name,ctype,rostype,member) + #define NavdataStructArray(struct,name,ctype,rostype,size,member) + #define NavdataStructEnd(struct,name) pub_##name.publish(msg);}} - if (IS_ARDRONE2) - { - msg.magX = (int32_t)navdata_magneto.mx; - msg.magY = (int32_t)navdata_magneto.my; - msg.magZ = (int32_t)navdata_magneto.mz; + #include "NavdataMessageDefinitions.h" - msg.pressure = navdata_pressure.Pression_meas; // typo in the SDK! - msg.temp = navdata_pressure.Temperature_meas; + #undef NavdataStructEnd + #undef NavdataStructArray + #undef NavdataStructMember + #undef NavdataStructStart - msg.wind_speed = navdata_wind.wind_speed; - msg.wind_angle = navdata_wind.wind_angle; - msg.wind_comp_angle = navdata_wind.wind_compensation_phi; - } - else - { - msg.magX = msg.magY = msg.magZ = 0; - msg.pressure = 0.0; - msg.temp = 0.0; - msg.wind_speed = 0.0; - msg.wind_angle = 0.0; - msg.wind_comp_angle = 0.0; - } - // Tag Detection - msg.tags_count = navdata_detect.nb_detected; - for (int i = 0; i < navdata_detect.nb_detected; i++) + // Publish the old Navdata packet + if (!((navdata_pub.getNumSubscribers() == 0) && (imu_pub.getNumSubscribers() == 0) && (mag_pub.getNumSubscribers() == 0))) { - /* - * The tags_type is in raw format. In order to extract the information - * macros from ardrone_api.h is needed. - * - * #define DETECTION_MAKE_TYPE(source,tag) ( ((source)<<16) | (tag) ) - * #define DETECTION_EXTRACT_SOURCE(type) ( ((type)>>16) & 0x0FF ) - * #define DETECTION_EXTRACT_TAG(type) ( (type) & 0x0FF ) - * - * Please also note that the xc, yc, width and height are in [0,1000] range - * and must get converted back based on image resolution. - */ - msg.tags_type.push_back(navdata_detect.type[i]); - msg.tags_xc.push_back(navdata_detect.xc[i]); - msg.tags_yc.push_back(navdata_detect.yc[i]); - msg.tags_width.push_back(navdata_detect.width[i]); - msg.tags_height.push_back(navdata_detect.height[i]); - msg.tags_orientation.push_back(navdata_detect.orientation_angle[i]); - msg.tags_distance.push_back(navdata_detect.dist[i]); - } + ardrone_autonomy::Navdata msg; + + msg.header.stamp = _now; + msg.header.frame_id = droneFrameBase; + msg.batteryPercent = navdata.vbat_flying_percentage; + msg.state = (navdata.ctrl_state >> 16); + + // positive means counterclockwise rotation around axis + msg.rotX = navdata.phi / 1000.0; // tilt left/right + msg.rotY = -navdata.theta / 1000.0; // tilt forward/backward + msg.rotZ = -navdata.psi / 1000.0; // orientation + + msg.altd = navdata.altitude; // cm + msg.vx = navdata.vx; // mm/sec + msg.vy = -navdata.vy; // mm/sec + msg.vz = -navdata.vz; // mm/sec + msg.tm = arnavtime.time; + msg.ax = navdata_phys.phys_accs[ACC_X] / 1000.0; // g + msg.ay = -navdata_phys.phys_accs[ACC_Y] / 1000.0; // g + msg.az = -navdata_phys.phys_accs[ACC_Z] / 1000.0; // g + + // New stuff + + if (IS_ARDRONE2) + { + msg.magX = (int32_t)navdata_magneto.mx; + msg.magY = (int32_t)navdata_magneto.my; + msg.magZ = (int32_t)navdata_magneto.mz; + + msg.pressure = navdata_pressure.Pression_meas; // typo in the SDK! + msg.temp = navdata_pressure.Temperature_meas; + + msg.wind_speed = navdata_wind.wind_speed; + msg.wind_angle = navdata_wind.wind_angle; + msg.wind_comp_angle = navdata_wind.wind_compensation_phi; + } + else + { + msg.magX = msg.magY = msg.magZ = 0; + msg.pressure = 0.0; + msg.temp = 0.0; + msg.wind_speed = 0.0; + msg.wind_angle = 0.0; + msg.wind_comp_angle = 0.0; + } - /* IMU */ - imu_msg.header.frame_id = droneFrameBase; - imu_msg.header.stamp = _now; + // Tag Detection + msg.tags_count = navdata_detect.nb_detected; + for (int i = 0; i < navdata_detect.nb_detected; i++) + { + /* + * The tags_type is in raw format. In order to extract the information + * macros from ardrone_api.h is needed. + * + * #define DETECTION_MAKE_TYPE(source,tag) ( ((source)<<16) | (tag) ) + * #define DETECTION_EXTRACT_SOURCE(type) ( ((type)>>16) & 0x0FF ) + * #define DETECTION_EXTRACT_TAG(type) ( (type) & 0x0FF ) + * + * Please also note that the xc, yc, width and height are in [0,1000] range + * and must get converted back based on image resolution. + */ + msg.tags_type.push_back(navdata_detect.type[i]); + msg.tags_xc.push_back(navdata_detect.xc[i]); + msg.tags_yc.push_back(navdata_detect.yc[i]); + msg.tags_width.push_back(navdata_detect.width[i]); + msg.tags_height.push_back(navdata_detect.height[i]); + msg.tags_orientation.push_back(navdata_detect.orientation_angle[i]); + msg.tags_distance.push_back(navdata_detect.dist[i]); + } - // IMU - Linear Acc - imu_msg.linear_acceleration.x = msg.ax * 9.8; - imu_msg.linear_acceleration.y = msg.ay * 9.8; - imu_msg.linear_acceleration.z = msg.az * 9.8; + /* IMU */ + imu_msg.header.frame_id = droneFrameBase; + imu_msg.header.stamp = _now; - // IMU - Rotation Matrix - btQuaternion q; - q.setEulerZYX(msg.rotZ * _DEG2RAD, msg.rotY * _DEG2RAD, msg.rotX * _DEG2RAD); - tf::quaternionTFToMsg(q, imu_msg.orientation); + // IMU - Linear Acc + imu_msg.linear_acceleration.x = msg.ax * 9.8; + imu_msg.linear_acceleration.y = msg.ay * 9.8; + imu_msg.linear_acceleration.z = msg.az * 9.8; - // IMU - Gyro (Gyro is being sent in deg/sec) - // TODO: Should Gyro be added to Navdata? - imu_msg.angular_velocity.x = navdata_phys.phys_gyros[GYRO_X] * DEG_TO_RAD; - imu_msg.angular_velocity.y = -navdata_phys.phys_gyros[GYRO_Y] * DEG_TO_RAD; - imu_msg.angular_velocity.z = -navdata_phys.phys_gyros[GYRO_Z] * DEG_TO_RAD; + // IMU - Rotation Matrix + btQuaternion q; + q.setEulerZYX(msg.rotZ * _DEG2RAD, msg.rotY * _DEG2RAD, msg.rotX * _DEG2RAD); + tf::quaternionTFToMsg(q, imu_msg.orientation); - mag_msg.header.frame_id = droneFrameBase; - mag_msg.header.stamp = _now; - const float mag_normalizer = sqrt( msg.magX * msg.magX + msg.magY * msg.magY + msg.magZ * msg.magZ ); + // IMU - Gyro (Gyro is being sent in deg/sec) + // TODO: Should Gyro be added to Navdata? + imu_msg.angular_velocity.x = navdata_phys.phys_gyros[GYRO_X] * DEG_TO_RAD; + imu_msg.angular_velocity.y = -navdata_phys.phys_gyros[GYRO_Y] * DEG_TO_RAD; + imu_msg.angular_velocity.z = -navdata_phys.phys_gyros[GYRO_Z] * DEG_TO_RAD; - // TODO: Check if it is really needed that magnetometer message includes normalized value - if (fabs(mag_normalizer) > 1e-9f) - { - mag_msg.vector.x = msg.magX / mag_normalizer; - mag_msg.vector.y = msg.magY / mag_normalizer; - mag_msg.vector.z = msg.magZ / mag_normalizer; - mag_pub.publish(mag_msg); - } - else - { - ROS_WARN_THROTTLE(1, "There is something wrong with the magnetometer readings (Magnitude is extremely small)."); - } + mag_msg.header.frame_id = droneFrameBase; + mag_msg.header.stamp = _now; + const float mag_normalizer = sqrt( msg.magX * msg.magX + msg.magY * msg.magY + msg.magZ * msg.magZ ); - navdata_pub.publish(msg); - imu_pub.publish(imu_msg); + // TODO: Check if it is really needed that magnetometer message includes normalized value + if (fabs(mag_normalizer) > 1e-9f) + { + mag_msg.vector.x = msg.magX / mag_normalizer; + mag_msg.vector.y = msg.magY / mag_normalizer; + mag_msg.vector.z = msg.magZ / mag_normalizer; + mag_pub.publish(mag_msg); + } + else + { + ROS_WARN_THROTTLE(1, "There is something wrong with the magnetometer readings (Magnitude is extremely small)."); + } + + navdata_pub.publish(msg); + imu_pub.publish(imu_msg); + } } void ARDroneDriver::publish_tf() diff --git a/src/ardrone_driver.h b/src/ardrone_driver.h index 22793f51..4f90512e 100644 --- a/src/ardrone_driver.h +++ b/src/ardrone_driver.h @@ -22,6 +22,8 @@ #define DRIVER_USERNAME "ardrone_driver" #define DRIVER_APPNAME "ardrone_driver" +#define CAMERA_QUEUE_SIZE (10) +#define NAVDATA_QUEUE_SIZE (25) enum ROOT_FRAME { @@ -31,6 +33,16 @@ enum ROOT_FRAME ROOT_FRAME_NUM }; +typedef union _dronetime_t +{ + uint32_t packed; + struct + { + uint32_t sec:11; + uint32_t usec:21; + }; +} dronetime_t; + class ARDroneDriver { public: @@ -67,6 +79,18 @@ class ARDroneDriver ros::Publisher imu_pub; ros::Publisher mag_pub; + #define NavdataStructStart(struct,name) ros::Publisher pub_##name; + #define NavdataStructMember(struct,name,ctype,rostype,member) + #define NavdataStructArray(struct,name,ctype,rostype,size,member) + #define NavdataStructEnd(struct,name) bool enabled_##name; + + #include "NavdataMessageDefinitions.h" + + #undef NavdataStructEnd + #undef NavdataStructArray + #undef NavdataStructMember + #undef NavdataStructStart + tf::TransformBroadcaster tf_broad; //ros::Subscriber toggleCam_sub;