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Signed-off-by: Louise Poubel <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,70 @@ | ||
| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
|
||
| /** | ||
| * Control the rudder joint position. | ||
| * | ||
| * Positive angles rotate the vertical fins clockwise when looking from the top | ||
| * (i.e. to starboard), which makes the vehicle rotate counter-clockwise when | ||
| * propelled forwards. Negative commands do the opposite. | ||
| * | ||
| * Usage: | ||
| * $ LRAUV_example_rudder <vehicle_name> <angle_radians> | ||
| */ | ||
| #include <chrono> | ||
| #include <thread> | ||
|
|
||
| #include <ignition/msgs.hh> | ||
| #include <ignition/transport.hh> | ||
| #include "lrauv_command.pb.h" | ||
|
|
||
| int main(int _argc, char **_argv) | ||
| { | ||
| std::string vehicleName("tethys"); | ||
| if (_argc > 1) | ||
| { | ||
| vehicleName = _argv[1]; | ||
| } | ||
|
|
||
| double angle{0.17}; | ||
| if (_argc > 2) | ||
| { | ||
| angle = atof(_argv[2]); | ||
| } | ||
|
|
||
| ignition::transport::Node node; | ||
| auto commandTopic = "/" + vehicleName + "/command_topic"; | ||
| auto commandPub = | ||
| node.Advertise<lrauv_ignition_plugins::msgs::LRAUVCommand>(commandTopic); | ||
|
|
||
| while (!commandPub.HasConnections()) | ||
| { | ||
| std::cout << "Command publisher waiting for connections..." << std::endl; | ||
| std::this_thread::sleep_for(std::chrono::milliseconds(1000)); | ||
| } | ||
|
|
||
| lrauv_ignition_plugins::msgs::LRAUVCommand cmdMsg; | ||
| cmdMsg.set_rudderangleaction_(angle); | ||
|
|
||
| // Keep it stable | ||
| cmdMsg.set_buoyancyaction_(0.0005); | ||
| cmdMsg.set_dropweightstate_(1); | ||
|
|
||
| commandPub.Publish(cmdMsg); | ||
|
|
||
| std::cout << "Moving rudder to [" << angle << "] rad" << std::endl; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,67 @@ | ||
| /* | ||
| * Copyright (C) 2021 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
|
||
| /** | ||
| * Send velocity commands to the thruster. | ||
| * | ||
| * Usage: | ||
| * $ LRAUV_example_thruster <vehicle_name> <rad_per_sec> | ||
| */ | ||
| #include <chrono> | ||
| #include <thread> | ||
|
|
||
| #include <ignition/msgs.hh> | ||
| #include <ignition/transport.hh> | ||
| #include "lrauv_command.pb.h" | ||
|
|
||
| int main(int _argc, char **_argv) | ||
| { | ||
| std::string vehicleName("tethys"); | ||
| if (_argc > 1) | ||
| { | ||
| vehicleName = _argv[1]; | ||
| } | ||
|
|
||
| double omega{30}; | ||
| if (_argc > 2) | ||
| { | ||
| omega = atof(_argv[2]); | ||
| } | ||
|
|
||
| ignition::transport::Node node; | ||
| auto commandTopic = "/" + vehicleName + "/command_topic"; | ||
| auto commandPub = | ||
| node.Advertise<lrauv_ignition_plugins::msgs::LRAUVCommand>(commandTopic); | ||
|
|
||
| while (!commandPub.HasConnections()) | ||
| { | ||
| std::cout << "Command publisher waiting for connections..." << std::endl; | ||
| std::this_thread::sleep_for(std::chrono::milliseconds(1000)); | ||
| } | ||
|
|
||
| lrauv_ignition_plugins::msgs::LRAUVCommand cmdMsg; | ||
| cmdMsg.set_propomegaaction_(omega); | ||
|
|
||
| // Keep it stable | ||
| cmdMsg.set_buoyancyaction_(0.0005); | ||
| cmdMsg.set_dropweightstate_(1); | ||
|
|
||
| commandPub.Publish(cmdMsg); | ||
|
|
||
| std::cout << "Setting thruster velocity to [" << omega << "] rad / s" | ||
| << std::endl; | ||
| } |
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