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Now it's just proof of concept. Implemented only RC override of RPYT channels. Issue #133.
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| #!/usr/bin/env python | ||
| # vim:set ts=4 sw=4 et: | ||
| # | ||
| # Copyright 2014 Vladimir Ermakov. | ||
| # | ||
| # This program is free software; you can redistribute it and/or modify | ||
| # it under the terms of the GNU General Public License as published by | ||
| # the Free Software Foundation; either version 3 of the License, or | ||
| # (at your option) any later version. | ||
| # | ||
| # This program is distributed in the hope that it will be useful, but | ||
| # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY | ||
| # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License | ||
| # for more details. | ||
| # | ||
| # You should have received a copy of the GNU General Public License along | ||
| # with this program; if not, write to the Free Software Foundation, Inc., | ||
| # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA | ||
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| from __future__ import print_function | ||
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| import sys | ||
| import argparse | ||
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| import rospy | ||
| from sensor_msgs.msg import Joy | ||
| from mavros.msg import OverrideRCIn | ||
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| def arduino_map(x, inmin, inmax, outmin, outmax): | ||
| return (x - inmin) * (outmax - outmin) / (inmax - inmin) + outmin | ||
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| class RCChan(object): | ||
| def __init__(self, name, chan, min_pos=-1.0): | ||
| self.name = name | ||
| self.chan = chan | ||
| self.min = 1000 | ||
| self.max = 2000 | ||
| self.min_pos = min_pos | ||
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| def load_param(self): | ||
| self.chan = rospy.get_param("~rc_map/" + self.name, self.chan) | ||
| self.min = rospy.get_param("~rc_min/" + self.name, self.min) | ||
| self.max = rospy.get_param("~rc_max/" + self.name, self.max) | ||
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| def calc_us(self, pos): | ||
| # warn: limit check | ||
| return arduino_map(pos, self.min_pos, 1.0, self.min, self.max) | ||
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| # Mode 2 on Logitech F710 gamepad | ||
| axes_map = { | ||
| 'roll': 3, | ||
| 'pitch': 4, | ||
| 'yaw': 0, | ||
| 'throttle': 1 | ||
| } | ||
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| axes_scale = { | ||
| 'roll': 1.0, | ||
| 'pitch': 1.0, | ||
| 'yaw': 1.0, | ||
| 'throttle': 1.0 | ||
| } | ||
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| # XXX: todo | ||
| button_map = { | ||
| 'takeoff': 0, | ||
| 'land': 1, | ||
| 'enable': 2 | ||
| } | ||
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| rc_channels = { | ||
| 'roll': RCChan('roll', 0), | ||
| 'pitch': RCChan('pitch', 1), | ||
| 'yaw': RCChan('yaw', 3), | ||
| 'throttle': RCChan('throttle', 2, 0.0) | ||
| } | ||
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| def rc_override_control(args): | ||
| rospy.init_node("mavteleop") | ||
| rospy.loginfo("MAV-Teleop: RC Override control type.") | ||
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| def load_map(m, n): | ||
| for k, v in m.iteritems(): | ||
| m[k] = rospy.get_param(n + k, v) | ||
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| load_map(axes_map, '~axes_map/') | ||
| load_map(axes_scale, '~axes_scale/') | ||
| load_map(button_map, '~button_map/') | ||
| for k, v in rc_channels.iteritems(): | ||
| v.load_param() | ||
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| override_pub = rospy.Publisher(args.mavros_ns + "rc/override", OverrideRCIn, queue_size=10) | ||
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| def joy_cb(joy): | ||
| def get_axes(n): | ||
| return joy.axes[axes_map[n]] * axes_scale[n] | ||
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| # get axes normalized to -1.0..+1.0 RPY, 0.0..1.0 T | ||
| roll = get_axes('roll') | ||
| pitch = get_axes('pitch') | ||
| yaw = get_axes('yaw') | ||
| throttle = arduino_map(get_axes('throttle'), -1.0, 1.0, 0.0, 1.0) | ||
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| rospy.logdebug("RPYT: %f, %f, %f, %f", roll, pitch, yaw, throttle) | ||
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| rc = OverrideRCIn() | ||
| def set_chan(n, v): | ||
| ch = rc_channels[n] | ||
| rc.channels[ch.chan] = ch.calc_us(v) | ||
| rospy.logdebug("RC%d (%s): %d us", ch.chan, ch.name, ch.calc_us(v)) | ||
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| # XXX: buttons | ||
| set_chan('roll', roll) | ||
| set_chan('pitch', pitch) | ||
| set_chan('yaw', yaw) | ||
| set_chan('throttle', throttle) | ||
| override_pub.publish(rc) | ||
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| jsub = rospy.Subscriber("/joy", Joy, joy_cb) | ||
| rospy.spin() | ||
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| def main(): | ||
| parser = argparse.ArgumentParser(description="Teleoperation script for Copter-UAV") | ||
| parser.add_argument('-n', '--mavros-ns', help="ROS node namespace", default="/mavros") | ||
| parser.add_argument('-v', '--verbose', action='store_true', help="verbose output") | ||
| parser.add_argument('-rc', '--rc-override', action='store_true', help="use rc override control type") | ||
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| args = parser.parse_args(rospy.myargv(argv=sys.argv)[1:]) | ||
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| if args.rc_override: | ||
| rc_override_control(args) | ||
| else: | ||
| raise NotImplementedError | ||
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| if __name__ == '__main__': | ||
| main() | ||
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