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add PositionController file

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Sem van der Hoeven
2023-05-24 08:48:07 +02:00
parent 6b7481da84
commit 6493a4f85d
4 changed files with 40 additions and 21 deletions
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27
src/drone_controls/CMakeLists.txt
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@@ -1,32 +1,29 @@
cmake_minimum_required(VERSION 3.5) cmake_minimum_required(VERSION 3.8)
project(drone_controls) project(drone_controls)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic) add_compile_options(-Wall -Wextra -Wpedantic)
endif() endif()
# find dependencies # find dependencies
find_package(ament_cmake REQUIRED) find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED) find_package(rclcpp REQUIRED)
find_package(drone_services REQUIRED)
find_package(object_detection REQUIRED)
find_package(height REQUIRED)
if(BUILD_TESTING) if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED) find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights # the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files # comment the line when a copyright and license is added to all source files
#set(ament_cmake_copyright_FOUND TRUE) set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo) # the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo # comment the line when this package is in a git repo and when
#set(ament_cmake_cpplint_FOUND TRUE) # a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies() ament_lint_auto_find_test_dependencies()
endif() endif()

12
src/drone_controls/package.xml
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@@ -3,14 +3,16 @@
<package format="3"> <package format="3">
<name>drone_controls</name> <name>drone_controls</name>
<version>0.0.0</version> <version>0.0.0</version>
<description>TODO: Package description</description> <description>Package to handle control commands from the api to the PX4Controller</description>
<maintainer email="ubuntu@todo.todo">ubuntu</maintainer> <maintainer email="semmer99@gmail.com">sem</maintainer>
<license>TODO: License declaration</license> <license>Apache Licence 2.0</license>
<depend>rclcpp</depend>
<depend>drone_services</depend>
<depend>object_detection</depend>
<depend>height</depend>
<buildtool_depend>ament_cmake</buildtool_depend> <buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<test_depend>ament_lint_auto</test_depend> <test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend> <test_depend>ament_lint_common</test_depend>

20
src/drone_controls/src/PositionChanger.cpp Normal file
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@@ -0,0 +1,20 @@
#include "rclcpp/rclcpp.hpp"
#include "object_detection/msg/LidarReading.msg"
#include "height/msg/HeightData.msg"
#include "drone_services/srv/SetVehicleControl.srv"
class PositionChanger : public rclcpp::Node
{
public:
PositionChanger() : Node("position_changer")
{
}
};
int main(int argc, char *argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<PositionChanger>());
rclcpp::shutdown();
return 0;
}

2
src/px4_msgs

Submodule src/px4_msgs updated: ffc3a4cd57...b64ef0475c