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pariaspepariaspe
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Merge pull request #176 from RUFFY-369/rotors
rotors driver first prototype
2 parents 35e051e + 765436b commit 96b349d

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13 files changed

+672
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‎drone_wrapper/src/drone_wrapper/drone_wrapper_class.py‎

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@@ -100,7 +100,6 @@ def __transform_twist(self, from_, to, twist):
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r --> rotations
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t --> translations
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s --> scale
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vin = np.array([twist.linear.x, twist.linear.y, twist.linear.z])
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result = np.dot(vin, H[:3, :3])
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"""
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if __name__ == "__main__":
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drone = DroneWrapper()
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rospy.spin()
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rospy.spin()

‎jderobot_drones/package.xml‎

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<exec_depend>drone_assets</exec_depend>
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<exec_depend>drone_circuit_assets</exec_depend>
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<exec_depend>tello_driver</exec_depend>
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<exec_depend>rotors_driver</exec_depend>
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<export>
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<metapackage/>

‎rotors_driver/CHANGELOG.rst‎

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package rotors_driver
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.4.2 (2021-10-04)
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------------------
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* Added Rotors driver for rotors sim
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* Contributors: RUFFY-369
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1.4.1 (2021-09-17)
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------------------
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1.4.0 (2021-04-23)
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------------------
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1.3.8 (2021-04-14)
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------------------
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1.3.7 (2021-03-01)
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------------------
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1.3.6 (2021-01-12)
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------------------
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1.3.5 (2020-12-29)
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------------------
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1.3.4 (2020-06-28)
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------------------
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1.3.3 (2020-06-10)
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------------------
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1.3.2 (2020-05-06)
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------------------
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1.3.1 (2020-02-14 13:30)
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------------------------
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1.3.0 (2020-02-14 13:22)
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------------------------
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1.2.0 (2020-02-11)
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------------------
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1.1.0 (2020-01-20)
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------------------
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1.0.2 (2020-01-19)
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------------------
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1.0.1 (2019-08-18)
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------------------
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1.0.0 (2019-08-01)
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------------------
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0.0.1 (2019-07-20)
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------------------

‎rotors_driver/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.0.2)
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project(rotors_driver)
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find_package(catkin REQUIRED COMPONENTS
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rospy
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geometry_msgs
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mavros_msgs
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mavros
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nav_msgs
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sensor_msgs
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std_msgs
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trajectory_msgs
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tf
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)
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catkin_package()
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include_directories(
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# include
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${catkin_INCLUDE_DIRS}
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)
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install(PROGRAMS
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src/rotors_driver_node.py
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scripts/rotors_land
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scripts/rotors_takeoff
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)

‎rotors_driver/launch/rotors_driver.launch‎

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<?xml version="1.0"?>
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<launch>
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<node name="rotors_driver_node" pkg="rotors_driver" type="rotors_driver_node.py" output="screen"/>
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</launch>

‎rotors_driver/launch/rotors_wrapper.launch‎

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<?xml version="1.0"?>
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<launch>
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<!-- Drone model param -->
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<arg name="drone_model" default="firefly"/>
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<param name="drone_model" type="str" value="$(arg drone_model)" />
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<node name="rotors_driver_node" pkg="rotors_driver" type="rotors_driver_node.py" output="screen"/>
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<node pkg="drone_wrapper" type="drone_wrapper_class.py" name="drone_wrapper_node" output="screen"/>
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</launch>

‎rotors_driver/package.xml‎

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<?xml version="1.0"?>
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<package format="3">
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<name>rotors_driver</name>
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<version>1.4.2</version>
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<description>The rotors_driver package</description>
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<maintainer email="pedroariasperez96@gmail.com">Pedro Arias</maintainer>
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<author email="prakarshkaushik369@gmail.com">Prakarsh Kaushik</author>
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<license>MIT</license>
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<!-- <url type="website">WIP</url> -->
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<buildtool_depend>catkin</buildtool_depend>
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<depend>rospy</depend>
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<depend>geometry_msgs</depend>
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<depend>mavros_msgs</depend>
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<depend>mavros</depend>
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<depend>nav_msgs</depend>
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<depend>sensor_msgs</depend>
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<depend>std_msgs</depend>
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<depend>tf</depend>
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<depend>trajectory_msgs</depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>

‎rotors_driver/scripts/rotors_land‎

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#! /bin/sh
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rosservice call /mavros/cmd/land 0.0 0.0 0.0 0.0 0.0

‎rotors_driver/scripts/rotors_takeoff‎

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#! /bin/sh
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rosservice call /mavros/cmd/arming 0.0 0.0 0.0 0.0 0.0

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