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Giving high-level control programatically on tum_simulator

asked 2014-08-25 14:17:42 -0500

alfa_80 gravatar image

updated 2014-08-25 14:19:07 -0500

I am confused how I can give high-level control like take off, landing etc programatically on tum_simulator. Via terminal of course, I can do something like (taken from the link provided):

Take off:
rostopic pub -1 /ardrone/takeoff std_msgs/Empty

Fly forward:
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist  '{linear:  {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'

Can anybody give me a hint or better still directly give a C++ snippet for take off and fly forward for me to easily grasp it.

Thanks in advance

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answered 2014-08-25 15:21:51 -0500

bvbdort gravatar image

Here is snippet for publish for "Fly forward", create a node for publishing messages.

ros::Rate loop_rate(10); // publishing frequency
while (ros::ok())
{

    //define publisher with topicname "/cmd_vel"
    ros::Publisher cmd_vel_pub;
    cmd_vel_pub = nh_.advertise<geometry_msgs::Twist>("/cmd_vel", 1); 
    //declare message of geometry_msgs::Twist type
    geometry_msgs::Twist cmd_vel;    
    //populate message
    cmd_vel.linear.x = 1.0;
    cmd_vel.linear.y = 0.0;
    cmd_vel.linear.z = 0.0;
    cmd_vel.angular.x = 0.0;
    cmd_vel.angular.y = 0.0;
    cmd_vel.angular.z = 0.0;    
    //publish message
    cmd_vel_pub.publish(cmd_vel);

    ros::spinOnce(); // not required if you dont have callbacks

    loop_rate.sleep();
}
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@bvbdort:thanks, this is awesome :-)

alfa_80 gravatar image alfa_80  ( 2014-08-26 02:41:19 -0500 )edit

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Asked: 2014-08-25 14:17:42 -0500

Seen: 185 times

Last updated: Aug 25 '14