px4_teleop_joy.cpp File Reference

Node for controlling px4 based drone by joystick. More...

#include <cmath>
#include <stdexcept>
#include <string>
#include <vector>
#include <ros/package.h>
#include <ros/ros.h>
#include <sensor_msgs/Joy.h>
#include <geometry_msgs/TwistStamped.h>
#include <geometry_msgs/Vector3.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/CommandHome.h>
#include <mavros_msgs/CommandTOL.h>
#include <mavros_msgs/SetMode.h>
#include <mavros_msgs/State.h>
#include <px4_teleop_cmds.hpp>
#include <yaml-cpp/yaml.h>

Include dependency graph for px4_teleop_joy.cpp:

Go to the source code of this file.

Functions
void	state_cb (const mavros_msgs::State::ConstPtr &msg)
	Callback function for state subscriber. More...
void	curr_gpos_cb (const sensor_msgs::NavSatFix::ConstPtr &msg)
	Callback function for global position subscriber. More...
void	local_pos_cb (const geometry_msgs::PoseStamped::ConstPtr &msg)
	Callback function for local position subscriber. More...
void	joy_cb (const sensor_msgs::Joy::ConstPtr &msg)
	Callback function for joystick input subscriber. More...
int	main (int argc, char **argv)

Variables
const int	RC_MODE_ONE = 1
	Rc mode constant. More...
const int	RC_MODE_TWO = 2
	Rc mode constant. More...
const std::string	px4_teleop_path = ros::package::getPath("px4_teleop")
	Storage for path of this package. More...
mavros_msgs::State	current_state
	Storage for vehicle state. More...
sensor_msgs::NavSatFix	curr_gpos
	Storage for current global position. More...
geometry_msgs::PoseStamped	local_pos
	Storage for local position. More...
sensor_msgs::Joy	joy_msg
	Storage for joystick input. More...

Detailed Description

Node for controlling px4 based drone by joystick.

Author

Takaki Ueno

Definition in file px4_teleop_joy.cpp.

Function Documentation

void curr_gpos_cb

(

const sensor_msgs::NavSatFix::ConstPtr &

msg

)

Callback function for global position subscriber.

Parameters

msg	Incoming message

Definition at line 64 of file px4_teleop_joy.cpp.

void joy_cb

(

const sensor_msgs::Joy::ConstPtr &

msg

)

Callback function for joystick input subscriber.

Parameters

msg	Incoming message

Definition at line 87 of file px4_teleop_joy.cpp.

void local_pos_cb

(

const geometry_msgs::PoseStamped::ConstPtr &

msg

)

Callback function for local position subscriber.

Parameters

msg	Incoming message

Definition at line 76 of file px4_teleop_joy.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 92 of file px4_teleop_joy.cpp.

void state_cb

(

const mavros_msgs::State::ConstPtr &

msg

)

Callback function for state subscriber.

Parameters

msg	Incoming message

Definition at line 52 of file px4_teleop_joy.cpp.

Variable Documentation

sensor_msgs::NavSatFix curr_gpos

Storage for current global position.

Definition at line 58 of file px4_teleop_joy.cpp.

mavros_msgs::State current_state

Storage for vehicle state.

Definition at line 46 of file px4_teleop_joy.cpp.

sensor_msgs::Joy joy_msg

Storage for joystick input.

Definition at line 82 of file px4_teleop_joy.cpp.

geometry_msgs::PoseStamped local_pos

Storage for local position.

Definition at line 70 of file px4_teleop_joy.cpp.

const std::string px4_teleop_path = ros::package::getPath("px4_teleop")

Storage for path of this package.

Definition at line 43 of file px4_teleop_joy.cpp.

const int RC_MODE_ONE = 1

Rc mode constant.

Definition at line 38 of file px4_teleop_joy.cpp.

const int RC_MODE_TWO = 2

Rc mode constant.

Definition at line 40 of file px4_teleop_joy.cpp.