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Remove unused fcu_horiz nodelet

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This commit is contained in:
Oleg Kalachev
2019-01-16 20:44:07 +03:00
parent 1b9c6d0dd6
commit ddfe67fc45
2 changed files with 0 additions and 45 deletions
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5
clever/CMakeLists.txt
View File

@@ -188,11 +188,6 @@ target_link_libraries(clever
${catkin_LIBRARIES}
)
target_link_libraries(fcu_horiz
${catkin_LIBRARIES}
"/opt/ros/kinetic/lib/libtf2_ros.so"
)
target_link_libraries(aruco_vpe
${catkin_LIBRARIES}
)

40
clever/src/fcu_horiz.cpp
View File

@@ -1,40 +0,0 @@
#include <nodelet/nodelet.h>
#include <pluginlib/class_list_macros.h>
#include <tf2_ros/transform_broadcaster.h>
#include <geometry_msgs/TransformStamped.h>
#include <geometry_msgs/PoseStamped.h>
#include "util.h"
class FcuHoriz : public nodelet::Nodelet
{
geometry_msgs::TransformStamped t_;
void handlePose(const geometry_msgs::PoseStampedConstPtr& msg)
{
static tf2_ros::TransformBroadcaster br;
double roll, pitch, yaw;
t_.header.stamp = msg->header.stamp;
t_.header.frame_id = msg->header.frame_id;
t_.transform.translation.x = msg->pose.position.x;
t_.transform.translation.y = msg->pose.position.y;
t_.transform.translation.z = msg->pose.position.z;
// Warning: this is not thead-safe
quaternionToEuler(msg->pose.orientation, roll, pitch, yaw);
eulerToQuaternion(t_.transform.rotation, 0, 0, yaw);
br.sendTransform(t_);
}
void onInit()
{
t_.child_frame_id = "fcu_horiz";
t_.transform.rotation.w = 1;
static ros::Subscriber pose_sub = getNodeHandle().subscribe("mavros/local_position/pose", 1, &FcuHoriz::handlePose, this);
ROS_INFO("fcu_horiz initialized");
}
};
PLUGINLIB_EXPORT_CLASS(FcuHoriz, nodelet::Nodelet)