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Joystick #273

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merged 8 commits into from
Aug 11, 2023
Merged

Joystick #273

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ecc078b
change the teleop paras
NannCai Aug 2, 2023
8e55136
the duration and heigth works
NannCai Aug 7, 2023
1413f77
finish joystick function: change the function button in teleop.yaml file
NannCai Aug 7, 2023
15ab560
finish the real fly test, ready to pull
NannCai Aug 8, 2023
b5b4b0b
modify under the guidance
NannCai Aug 9, 2023
3af1ee3
nothing
NannCai Aug 9, 2023
e090b77
use default button numbers
NannCai Aug 10, 2023
f626731
fixed the little bug, default takeoff duration and height
NannCai Aug 11, 2023
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23 changes: 23 additions & 0 deletions .vscode/c_cpp_properties.json
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Please don't include any .vscode file

Original file line number Diff line number Diff line change
@@ -0,0 +1,23 @@
{
"configurations": [
{
"browse": {
"databaseFilename": "${default}",
"limitSymbolsToIncludedHeaders": false
},
"includePath": [
"/home/nan/ros2_ws/install/motion_capture_tracking_interfaces/include/**",
"/home/nan/ros2_ws/install/crazyflie_interfaces/include/**",
"/opt/ros/humble/include/**",
"/home/nan/ros2_ws/src/figure_trajectory/include/**",
"/usr/include/**"
],
"name": "ROS",
"intelliSenseMode": "gcc-arm64",
"compilerPath": "/usr/bin/gcc",
"cStandard": "gnu11",
"cppStandard": "c++14"
}
],
"version": 4
}
30 changes: 30 additions & 0 deletions .vscode/settings.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,30 @@
{
"python.autoComplete.extraPaths": [
"/home/nan/crazyflie-firmware/build",
"/home/nan/ros2_ws/build/my_robot_controller",
"/home/nan/ros2_ws/install/my_robot_controller/lib/python3.10/site-packages",
"/home/nan/ros2_ws/install/motion_capture_tracking_interfaces/local/lib/python3.10/dist-packages",
"/home/nan/ros2_ws/install/figure_trajectory/local/lib/python3.10/dist-packages",
"/home/nan/ros2_ws/install/crazyflie_sim/local/lib/python3.10/dist-packages",
"/home/nan/ros2_ws/install/crazyflie_examples/local/lib/python3.10/dist-packages",
"/home/nan/ros2_ws/build/crazyflie_py",
"/home/nan/ros2_ws/install/crazyflie_py/lib/python3.10/site-packages",
"/home/nan/ros2_ws/install/crazyflie_interfaces/local/lib/python3.10/dist-packages",
"/opt/ros/humble/lib/python3.10/site-packages",
"/opt/ros/humble/local/lib/python3.10/dist-packages"
],
"python.analysis.extraPaths": [
"/home/nan/crazyflie-firmware/build",
"/home/nan/ros2_ws/build/my_robot_controller",
"/home/nan/ros2_ws/install/my_robot_controller/lib/python3.10/site-packages",
"/home/nan/ros2_ws/install/motion_capture_tracking_interfaces/local/lib/python3.10/dist-packages",
"/home/nan/ros2_ws/install/figure_trajectory/local/lib/python3.10/dist-packages",
"/home/nan/ros2_ws/install/crazyflie_sim/local/lib/python3.10/dist-packages",
"/home/nan/ros2_ws/install/crazyflie_examples/local/lib/python3.10/dist-packages",
"/home/nan/ros2_ws/build/crazyflie_py",
"/home/nan/ros2_ws/install/crazyflie_py/lib/python3.10/site-packages",
"/home/nan/ros2_ws/install/crazyflie_interfaces/local/lib/python3.10/dist-packages",
"/opt/ros/humble/lib/python3.10/site-packages",
"/opt/ros/humble/local/lib/python3.10/dist-packages"
]
}
9 changes: 8 additions & 1 deletion crazyflie/config/teleop.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -45,5 +45,12 @@
y: 0.0
z: 0.10
auto_yaw_rate: 0.0 # rad/s, use 0.0 for manual yaw control

takeoff_paras:
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duration: 1.0
height: 0.25
button: 6 # 7 start
land_paras:
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land:

button: 7 # 6 back
emergency_paras:
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emergency

button: 2 # 1 red

10 changes: 5 additions & 5 deletions crazyflie/launch/launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -76,11 +76,11 @@ def generate_launch_description():
name='teleop',
remappings=[
('emergency', 'all/emergency'),
('takeoff', 'cf6/takeoff'),
('land', 'cf6/land'),
('cmd_vel_legacy', 'cf6/cmd_vel_legacy'),
('cmd_full_state', 'cf6/cmd_full_state'),
('notify_setpoints_stop', 'cf6/notify_setpoints_stop'),
('takeoff', 'all/takeoff'),
('land', 'all/land'),
('cmd_vel_legacy', 'all/cmd_vel_legacy'),
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those two should not be changed to all.

('cmd_full_state', 'all/cmd_full_state'),
('notify_setpoints_stop', 'all/notify_setpoints_stop'),
],
parameters=[teleop_params]
),
Expand Down
38 changes: 31 additions & 7 deletions crazyflie/src/teleop.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,18 @@ class TeleopNode : public rclcpp::Node
this->declare_parameter("cmd_vel_world.y_limit", rclcpp::PARAMETER_DOUBLE_ARRAY);
this->declare_parameter("cmd_vel_world.z_limit", rclcpp::PARAMETER_DOUBLE_ARRAY);

this->declare_parameter<float>("takeoff_paras.duration");
this->get_parameter<float>("takeoff_paras.duration", takeoff_paras_.duration);
this->declare_parameter<float>("takeoff_paras.height");
this->get_parameter<float>("takeoff_paras.height", takeoff_paras_.height);
this->declare_parameter<int>("takeoff_paras.button");
this->get_parameter<int>("takeoff_paras.button", takeoff_paras_.button);

this->declare_parameter<int>("land_paras.button");
this->get_parameter<int>("land_paras.button", land_button);
this->declare_parameter<int>("emergency_paras.button");
this->get_parameter<int>("emergency_paras.button", emergency_button);

on_mode_switched();

dt_ = 1.0f/frequency_;
Expand Down Expand Up @@ -132,6 +144,16 @@ class TeleopNode : public rclcpp::Node
return a;
}

struct
{
float duration;
float height;
int button;
} takeoff_paras_;

int land_button;
int emergency_button;

void on_parameter_event(const rcl_interfaces::msg::ParameterEvent &event)
{
if (event.node == "/teleop") {
Expand Down Expand Up @@ -195,15 +217,17 @@ class TeleopNode : public rclcpp::Node
{

static std::vector<int> lastButtonState(Xbox360Buttons::COUNT);


std::cout << "takeoff_paras_.button: " << takeoff_paras_.button << std::endl;
if (msg->buttons.size() >= Xbox360Buttons::COUNT && lastButtonState.size() >= Xbox360Buttons::COUNT) {
if (msg->buttons[Xbox360Buttons::Red] == 1 && lastButtonState[Xbox360Buttons::Red] == 0) {
if (msg->buttons[emergency_button] == 1 && lastButtonState[emergency_button] == 0) {
emergency();
}
if (msg->buttons[Xbox360Buttons::Start] == 1 && lastButtonState[Xbox360Buttons::Start] == 0) {

if (msg->buttons[takeoff_paras_.button] == 1 && lastButtonState[takeoff_paras_.button] == 0) {
takeoff();
}
if (msg->buttons[Xbox360Buttons::Back] == 1 && lastButtonState[Xbox360Buttons::Back] == 0) {
if (msg->buttons[land_button] == 1 && lastButtonState[land_button] == 0) {
land();
}
}
Expand Down Expand Up @@ -262,12 +286,12 @@ class TeleopNode : public rclcpp::Node
}
auto request = std::make_shared<Takeoff::Request>();
request->group_mask = 0;
request->height = 0.5;
request->duration = rclcpp::Duration::from_seconds(2);
request->height = takeoff_paras_.height;
request->duration = rclcpp::Duration::from_seconds(takeoff_paras_.duration);
client_takeoff_->async_send_request(request);

timer_takeoff_ = this->create_wall_timer(2s, [this]() {
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the 2s also needs to be changed

state_.z = 0.5;
state_.z = takeoff_paras_.height; // Is here right? should I change the 2s in line 293
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this is correct, and yes, the 2s also need to be changed.

is_low_level_flight_active_ = true;
this->timer_takeoff_->cancel();
});
Expand Down