First commit

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(ardrone_velocity)
+SET(CMAKE_CXX_FLAGS "-std=c++0x")
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+	geometry_msgs
+	roscpp
+	rospy
+        std_msgs
+        nav_msgs)
+
+#For Qt
+#find_package(Qt4 COMPONENTS QtCore QtGui)
+#INCLUDE(${QT_USE_FILE})
+#ADD_DEFINITIONS(${QT_DEFINITIONS})
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+#generate_messages(DEPENDENCIES  std_msgs)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+#  LIBRARIES coop_uv
+  CATKIN_DEPENDS roscpp rospy std_msgs geometry_msgs nav_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include)
+include_directories(${catkin_INCLUDE_DIRS})
+## Declare a cpp library
+# add_library(coop_uv
+#   src/${PROJECT_NAME}/coop_uv.cpp
+# )
+
+set(PIDCONTROL_SOURCE_FILES
+    src/pid_control.cpp
+    src/controlnode.cpp
+)
+
+set(PIDCONTROL_HEADER_FILES
+    include/ardrone_velocity/controlnode.hpp
+)
+
+
+## Declare a cpp executable
+add_executable(pid_control ${PIDCONTROL_SOURCE_FILES} ${PIDCONTROL_HEADER_FILES})
+add_executable(test_controller src/test_controller.cpp)
+#add_executable(mainQt src/mainQt.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+##add_dependencies(coop_uv_node coop_uv_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(pid_control ${catkin_LIBRARIES})
+target_link_libraries(test_controller ${catkin_LIBRARIES})
+
+#target_link_libraries(mainQt ${catkin_LIBRARIES} ${QT_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS coop_uv coop_uv_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_coop_uv.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+
+##################
+# FOR QT CREATOR
+##################
+file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/ardrone_velocity/*.hpp)
+FILE(GLOB_RECURSE INC_ALL "include/coop_uv_qt/*.hpp")
+FILE(GLOB_RECURSE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/*.cpp)
+

contributors.txt

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+Raul Acuna

include/ardrone_velocity/controlnode.hpp

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+#ifndef CONTROLNODE_HPP
+#define CONTROLNODE_HPP
+
+#include "ros/ros.h"
+#include "geometry_msgs/Twist.h"
+#include "nav_msgs/Odometry.h"
+
+
+class ControlNode
+{
+public:
+    ControlNode();
+
+    // ROS message callbacks
+    void cmd_velCallback(const geometry_msgs::Twist& cmd_vel_in);
+    void m_quad_velCallback(const nav_msgs::Odometry& odo_msg);
+    ros::NodeHandle nh;
+
+    // PID Controller
+    void velocity_control(void);
+
+    // Taken from tum_ardrone
+    void i_term_increase(double& i_term, double new_err, double cap);
+
+    void set_hover(void);
+
+    bool m_cmd_valid = false;
+
+private:
+    ros::Subscriber m_cmd_vel_sub;
+    ros::Subscriber m_quad_vel_sub;
+    ros::Publisher m_cmd_vel_pub;
+    geometry_msgs::Twist m_current_command;
+    nav_msgs::Odometry m_odo_msg;
+    ros::Time t;
+    ros::Time old_t;
+    double m_last_error_x;
+    double m_last_error_y;
+    double m_last_vel_x;
+    double m_last_vel_y;
+    double m_i_term_x;
+    double m_i_term_y;
+
+};
+
+#endif // CONTROLNODE_HPP

package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>ardrone_velocity</name>
+  <version>0.0.0</version>
+  <description>velocity control for the Ar.Drone 2.0</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">Raul Acuna</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/coop_uv</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <!-- <run_depend>rotors_comm</run_depend> -->
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>