CopterExpress/clover
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Merge branch 'master' into 22-armhf

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This commit is contained in:
Oleg Kalachev
2021-05-19 19:24:28 +03:00
parent 8d771cf51f 27be9eb281
commit cf7f083faf
4 changed files with 18 additions and 8 deletions
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2
clover/launch/clover.launch
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@@ -11,7 +11,7 @@
<arg name="rangefinder_vl53l1x" default="true"/>
<arg name="led" default="true"/>
<arg name="blocks" default="false"/>
<arg name="rc" default="true"/>
<arg name="rc" default="false"/>
<arg name="simulator" default="false"/> <!-- flag that we are operating on a simulated drone -->

2
clover/launch/mavros.launch
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@@ -8,7 +8,7 @@
<arg name="distance_sensor_remap" default="rangefinder/range"/>
<arg name="usb_device" default="/dev/px4fmu"/>
<arg name="prefix" default="" unless="$(eval fcu_conn == 'usb')"/>
<arg name="prefix" default="bash -c 'while [ ! -e $(arg usb_device) ]; do sleep 1; done; $0 $@'" if="$(eval fcu_conn == 'usb')"/>
<arg name="prefix" default="rosrun clover waitfile $(arg usb_device)" if="$(eval fcu_conn == 'usb')"/>
<node pkg="mavros" type="mavros_node" name="mavros" launch-prefix="$(arg prefix)" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
<!-- UART connection -->

13
clover/src/optical_flow.cpp
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@@ -207,7 +207,7 @@ private:
} catch (const tf2::TransformException& e) {
// Invalidate previous frame
prev_.release();
return;
goto publish_debug;
}
}
@@ -219,6 +219,10 @@ private:
flow_.quality = (uint8_t)(response * 255);
flow_pub_.publish(flow_);
prev_ = curr_.clone();
prev_stamp_ = msg->header.stamp;
publish_debug:
// Publish debug image
if (img_pub_.getNumSubscribers() > 0) {
// publish debug image
@@ -235,12 +239,9 @@ private:
static geometry_msgs::TwistStamped velo;
velo.header.stamp = msg->header.stamp;
velo.header.frame_id = fcu_frame_id_;
velo.twist.angular.x = flow_.integrated_x / integration_time.toSec();
velo.twist.angular.y = flow_.integrated_y / integration_time.toSec();
velo.twist.angular.x = flow_fcu.vector.x / integration_time.toSec();
velo.twist.angular.y = flow_fcu.vector.y / integration_time.toSec();
velo_pub_.publish(velo);
prev_ = curr_.clone();
prev_stamp_ = msg->header.stamp;
}
}

9
clover/src/waitfile Executable file
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@@ -0,0 +1,9 @@
#!/usr/bin/env bash
# $ ./waitfile <file> <command> <args...>
# wait until <file> appears and then invoke <command> with <args>
echo "wait for file $1"
while [ ! -e "$1" ]; do sleep 1; done;
echo "file $1 appeared"
"${@:2}"