Texas Aerial Robotics Documentation
Classes | Functions | Variables
control_functions.hpp File Reference
#include <mavros_msgs/CommandTOL.h>
#include <mavros_msgs/State.h>
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h>
#include <cmath>
#include <math.h>
#include <ros/ros.h>
#include <std_msgs/Float64.h>
#include <std_msgs/String.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/SetMode.h>
#include <mavros_msgs/PositionTarget.h>
#include <unistd.h>
#include <vector>
#include <ros/duration.h>
#include <iostream>

Go to the source code of this file.

Classes

struct  control_api_waypoint
 

Functions

void state_cb (const mavros_msgs::State::ConstPtr &msg)
 
void enu_2_local (nav_msgs::Odometry current_pose_enu)
 
void pose_cb (const nav_msgs::Odometry::ConstPtr &msg)
 
void set_heading (float heading)
 
void set_destination (float x, float y, float z, float psi)
 
int wait4connect ()
 
int wait4start ()
 
int initialize_local_frame ()
 
int takeoff (float takeoff_alt)
 
int check_waypoint_reached ()
 
int land ()
 
int init_publisher_subscriber (ros::NodeHandle controlnode)
 

Variables

mavros_msgs::State current_state_g
 
nav_msgs::Odometry current_pose_g
 
geometry_msgs::Pose correction_vector_g
 
geometry_msgs::PoseStamped waypoint_g
 
float current_heading_g
 
float local_offset_g
 
float correction_heading_g = 0
 
ros::Publisher local_pos_pub
 
ros::Subscriber currentPos
 
ros::Subscriber state_sub
 
ros::ServiceClient arming_client
 
ros::ServiceClient land_client
 
ros::ServiceClient set_mode_client
 
ros::ServiceClient takeoff_client
 

Function Documentation

◆ enu_2_local()

void enu_2_local ( nav_msgs::Odometry  current_pose_enu)

Definition at line 61 of file control_functions.hpp.

◆ pose_cb()

void pose_cb ( const nav_msgs::Odometry::ConstPtr &  msg)

Definition at line 73 of file control_functions.hpp.

◆ state_cb()

void state_cb ( const mavros_msgs::State::ConstPtr &  msg)

Definition at line 57 of file control_functions.hpp.

Variable Documentation

◆ arming_client

ros::ServiceClient arming_client

Definition at line 40 of file control_functions.hpp.

◆ correction_heading_g

float correction_heading_g = 0

Definition at line 33 of file control_functions.hpp.

◆ correction_vector_g

geometry_msgs::Pose correction_vector_g

Definition at line 28 of file control_functions.hpp.

◆ current_heading_g

float current_heading_g

Definition at line 31 of file control_functions.hpp.

◆ current_pose_g

nav_msgs::Odometry current_pose_g

Definition at line 27 of file control_functions.hpp.

◆ current_state_g

mavros_msgs::State current_state_g

Definition at line 26 of file control_functions.hpp.

◆ currentPos

ros::Subscriber currentPos

Definition at line 38 of file control_functions.hpp.

◆ land_client

ros::ServiceClient land_client

Definition at line 41 of file control_functions.hpp.

◆ local_offset_g

float local_offset_g

Definition at line 32 of file control_functions.hpp.

◆ local_pos_pub

ros::Publisher local_pos_pub

Definition at line 37 of file control_functions.hpp.

◆ set_mode_client

ros::ServiceClient set_mode_client

Definition at line 42 of file control_functions.hpp.

◆ state_sub

ros::Subscriber state_sub

Definition at line 39 of file control_functions.hpp.

◆ takeoff_client

ros::ServiceClient takeoff_client

Definition at line 43 of file control_functions.hpp.

◆ waypoint_g

geometry_msgs::PoseStamped waypoint_g

Definition at line 29 of file control_functions.hpp.