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adding mount orientation to mount_control plugin #1297

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merged 2 commits into from
Oct 25, 2019
Merged

adding mount orientation to mount_control plugin #1297

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d9b1dfa
adding mount orientation to mount_control plugin
dayjaby Aug 14, 2019
c741c21
resolved merge conflict
dayjaby Oct 14, 2019
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22 changes: 21 additions & 1 deletion mavros_extras/src/plugins/mount_control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@

#include <mavros_msgs/CommandLong.h>
#include <mavros_msgs/MountControl.h>
#include <geometry_msgs/Quaternion.h>
#include <mavros_msgs/MountConfigure.h>

namespace mavros {
Expand Down Expand Up @@ -46,21 +47,40 @@ class MountControlPlugin : public plugin::PluginBase {
PluginBase::initialize(uas_);

command_sub = mount_nh.subscribe("command", 10, &MountControlPlugin::command_cb, this);
mount_orientation_pub = mount_nh.advertise<geometry_msgs::Quaternion>("orientation", 10);
configure_srv = mount_nh.advertiseService("configure", &MountControlPlugin::mount_configure_cb, this);

}

Subscriptions get_subscriptions()
{
return { /* Rx disabled */ };
return {
make_handler(&MountControlPlugin::handle_mount_orientation)
};
}

private:
ros::NodeHandle nh;
ros::NodeHandle mount_nh;
ros::Subscriber command_sub;
ros::Publisher mount_orientation_pub;
ros::ServiceServer configure_srv;

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please remove the extra line

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Probably better to apply autoformatter?

/**
* @brief Publish the mount orientation
*
* Message specification: https://mavlink.io/en/messages/common.html#MOUNT_ORIENTATION
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* @param msg the mavlink message
* @param mo received MountOrientation msg
*/
void handle_mount_orientation(const mavlink::mavlink_message_t *msg, mavlink::common::msg::MOUNT_ORIENTATION &mo)
{
auto q = ftf::quaternion_from_rpy(Eigen::Vector3d(mo.roll, mo.pitch, mo.yaw) * M_PI / 180.0);
geometry_msgs::Quaternion quaternion_msg;
tf::quaternionEigenToMsg(q, quaternion_msg);
mount_orientation_pub.publish(quaternion_msg);
}

/**
* @brief Send mount control commands to vehicle
*
Expand Down