px4_teleop_cmds.hpp File Reference

Command functions for px4_teleop package. More...

#include <ros/ros.h>
#include <geometry_msgs/TwistStamped.h>
#include <geometry_msgs/PoseStamped.h>
#include <sensor_msgs/NavSatFix.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/SetMode.h>
#include <mavros_msgs/State.h>
#include <mavros_msgs/CommandTOL.h>

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Functions
void	arm (ros::ServiceClient &client, mavros_msgs::State &state)
	Arm vehicle. More...
void	takeoff (ros::ServiceClient &client, mavros_msgs::State &state, geometry_msgs::PoseStamped &lpos, sensor_msgs::NavSatFix &hp, double height)
	Take off vehicle. More...
void	land (ros::ServiceClient &client, geometry_msgs::PoseStamped &lpos, sensor_msgs::NavSatFix &gpos, sensor_msgs::NavSatFix &hp)
	Land vehicle. More...
void	disarm (ros::ServiceClient &client)
	Disarm vehicle. More...
void	cmd_vel (ros::Publisher &pub, ros::ServiceClient &client, mavros_msgs::State &state, double dt, double vx, double vy, double vz, double ang_z)
	Send velocity command to vehicle. More...

Detailed Description

Command functions for px4_teleop package.

Author

Takaki Ueno

Definition in file px4_teleop_cmds.hpp.

Function Documentation

void arm	(	ros::ServiceClient &	client,
		mavros_msgs::State &	state
	)

Arm vehicle.

Parameters

client	Service client for arm
state	State of vehicle

Definition at line 32 of file px4_teleop_cmds.hpp.

void cmd_vel	(	ros::Publisher &	pub,
		ros::ServiceClient &	client,
		mavros_msgs::State &	state,
		double	dt,
		double	vx,
		double	vy,
		double	vz,
		double	ang_z
	)

Send velocity command to vehicle.

Parameters

pub	Velocity command publisher
client	Service client for mode setting
state	Current state of vehicle
dt	Duration
vx	Linear velocity along x axis
vy	Linear velocity along y axis
vz	Linear velocity along z axis
ang_z	Angular velocity around z axis

Definition at line 183 of file px4_teleop_cmds.hpp.

void disarm

(

ros::ServiceClient &

client

)

Disarm vehicle.

Parameters

client

Service client for disarm

Definition at line 160 of file px4_teleop_cmds.hpp.

void land	(	ros::ServiceClient &	client,
		geometry_msgs::PoseStamped &	lpos,
		sensor_msgs::NavSatFix &	gpos,
		sensor_msgs::NavSatFix &	hp
	)

Land vehicle.

Parameters

client	Service client for landing
lpos	Current local position
gpos	Global position at the time of landing
hp	Home position

Definition at line 124 of file px4_teleop_cmds.hpp.

void takeoff	(	ros::ServiceClient &	client,
		mavros_msgs::State &	state,
		geometry_msgs::PoseStamped &	lpos,
		sensor_msgs::NavSatFix &	hp,
		double	height
	)

Take off vehicle.

Parameters

client	Service client for takeoff
state	State of vehicle
lpos	Current local position
hp	Home position
height	Takeoff height

Definition at line 62 of file px4_teleop_cmds.hpp.