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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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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:
duration: 1.0
height: 0.25
button: 6 # 7 start
land:
button: 7 # 6 back
emergency:
button: 2 # 1 red

2 changes: 1 addition & 1 deletion crazyflie/launch/launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -125,4 +125,4 @@ def generate_launch_description():
"use_sim_time": True,
}]
),
])
])
40 changes: 32 additions & 8 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.duration");
this->get_parameter<float>("takeoff.duration", takeoff_paras_.duration);
this->declare_parameter<float>("takeoff.height");
this->get_parameter<float>("takeoff.height", takeoff_paras_.height);
this->declare_parameter<int>("takeoff.button");
this->get_parameter<int>("takeoff.button", takeoff_paras_.button);

this->declare_parameter<int>("land.button");
this->get_parameter<int>("land.button", land_button);
this->declare_parameter<int>("emergency.button");
this->get_parameter<int>("emergency.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]() {
state_.z = 0.5;
timer_takeoff_ = this->create_wall_timer(takeoff_paras_.duration, [this]() {
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Does this actually work for your locally? The CI reports the following error:

 [  8%] Building CXX object deps/crazyflie_tools/crazyflie_cpp/crazyflie-link-cpp/CMakeFiles/crazyflieLinkCpp.dir/src/Connection.cpp.o
  /__w/crazyswarm2/crazyswarm2/ros_ws/src/ypobr1p6gmn/crazyswarm2/crazyflie/src/teleop.cpp: In member function ‘void TeleopNode::takeoff()’:
  /__w/crazyswarm2/crazyswarm2/ros_ws/src/ypobr1p6gmn/crazyswarm2/crazyflie/src/teleop.cpp:297:10: error: no matching function for call to ‘TeleopNode::create_wall_timer(float&, TeleopNode::takeoff()::<lambda()>)’
    297 |         });
        |          ^
  In file included from /opt/ros/galactic/include/rclcpp/node.hpp:1329,
                   from /opt/ros/galactic/include/rclcpp/executors/single_threaded_executor.hpp:28,
                   from /opt/ros/galactic/include/rclcpp/executors.hpp:22,
                   from /opt/ros/galactic/include/rclcpp/rclcpp.hpp:156,
                   from /__w/crazyswarm2/crazyswarm2/ros_ws/src/ypobr1p6gmn/crazyswarm2/crazyflie/src/teleop.cpp:5:
  /opt/ros/galactic/include/rclcpp/node_impl.hpp:111:1: note: candidate: ‘template<class DurationRepT, class DurationT, class CallbackT> typename rclcpp::WallTimer<CallbackT>::SharedPtr rclcpp::Node::create_wall_timer(std::chrono::duration<_Rep1, _Period1>, CallbackT, rclcpp::CallbackGroup::SharedPtr)’
    111 | Node::create_wall_timer(
        | ^~~~
  /opt/ros/galactic/include/rclcpp/node_impl.hpp:111:1: note:   template argument deduction/substitution failed:
  /__w/crazyswarm2/crazyswarm2/ros_ws/src/ypobr1p6gmn/crazyswarm2/crazyflie/src/teleop.cpp:297:10: note:   mismatched types ‘std::chrono::duration<_Rep1, _Period1>’ and ‘float’
    297 |         });
        |          ^
  [ 11%] Building CXX object deps/crazyflie_tools/crazyflie_cpp/crazyflie-link-cpp/CMakeFiles/crazyflieLinkCpp.dir/src/USBDevice.cpp.o
  [ 13%] Building CXX object deps/crazyflie_tools/crazyflie_cpp/crazyflie-link-cpp/CMakeFiles/crazyflieLinkCpp.dir/src/Crazyradio.cpp.o
  [ 16%] Building CXX object deps/crazyflie_tools/crazyflie_cpp/crazyflie-link-cpp/CMakeFiles/crazyflieLinkCpp.dir/src/CrazyradioThread.cpp.o
  [ 19%] Building CXX object deps/crazyflie_tools/crazyflie_cpp/crazyflie-link-cpp/CMakeFiles/crazyflieLinkCpp.dir/src/CrazyflieUSB.cpp.o
  [ 22%] Building CXX object deps/crazyflie_tools/crazyflie_cpp/crazyflie-link-cpp/CMakeFiles/crazyflieLinkCpp.dir/src/CrazyflieUSBThread.cpp.o
  make[2]: *** [CMakeFiles/teleop.dir/build.make:63: CMakeFiles/teleop.dir/src/teleop.cpp.o] Error 1
  make[1]: *** [CMakeFiles/Makefile2:184: CMakeFiles/teleop.dir/all] Error 2
  make[1]: *** Waiting for unfinished jobs....
  [ 25%] Building CXX object deps/crazyflie_tools/crazyflie_cpp/crazyflie-link-cpp/CMakeFiles/crazyflieLinkCpp.dir/src/Version.cpp.o
  [ 27%] Linking CXX static library libcrazyflieLinkCpp.a
  [ 27%] Built target crazyflieLinkCpp
  make: *** [Makefile:141: all] Error 2
  ---
  --- stderr: crazyflie
  /__w/crazyswarm2/crazyswarm2/ros_ws/src/ypobr1p6gmn/crazyswarm2/crazyflie/src/teleop.cpp: In member function ‘void TeleopNode::takeoff()’:
  /__w/crazyswarm2/crazyswarm2/ros_ws/src/ypobr1p6gmn/crazyswarm2/crazyflie/src/teleop.cpp:297:10: error: no matching function for call to ‘TeleopNode::create_wall_timer(float&, TeleopNode::takeoff()::<lambda()>)’
    297 |         });
        |          ^
  In file included from /opt/ros/galactic/include/rclcpp/node.hpp:1329,
                   from /opt/ros/galactic/include/rclcpp/executors/single_threaded_executor.hpp:28,
                   from /opt/ros/galactic/include/rclcpp/executors.hpp:22,
                   from /opt/ros/galactic/include/rclcpp/rclcpp.hpp:156,
                   from /__w/crazyswarm2/crazyswarm2/ros_ws/src/ypobr1p6gmn/crazyswarm2/crazyflie/src/teleop.cpp:5:
  /opt/ros/galactic/include/rclcpp/node_impl.hpp:111:1: note: candidate: ‘template<class DurationRepT, class DurationT, class CallbackT> typename rclcpp::WallTimer<CallbackT>::SharedPtr rclcpp::Node::create_wall_timer(std::chrono::duration<_Rep1, _Period1>, CallbackT, rclcpp::CallbackGroup::SharedPtr)’
    111 | Node::create_wall_timer(
        | ^~~~
  /opt/ros/galactic/include/rclcpp/node_impl.hpp:111:1: note:   template argument deduction/substitution failed:
  /__w/crazyswarm2/crazyswarm2/ros_ws/src/ypobr1p6gmn/crazyswarm2/crazyflie/src/teleop.cpp:297:10: note:   mismatched types ‘std::chrono::duration<_Rep1, _Period1>’ and ‘float’
    297 |         });
        |          ^
  make[2]: *** [CMakeFiles/teleop.dir/build.make:63: CMakeFiles/teleop.dir/src/teleop.cpp.o] Error 1
  make[1]: *** [CMakeFiles/Makefile2:184: CMakeFiles/teleop.dir/all] Error 2
  make[1]: *** Waiting for unfinished jobs....
  make: *** [Makefile:141: all] Error 2
  ---
  Failed   <<< crazyflie [11.7s, exited with code 2]

state_.z = takeoff_paras_.height;
is_low_level_flight_active_ = true;
this->timer_takeoff_->cancel();
});
Expand Down
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