Merge branch 'master' into terrain-frame

clover/launch/main_camera.launch

@@ -4,6 +4,8 @@
     <arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
     <arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
     <arg name="device" default="/dev/video0"/> <!-- v4l2 device -->
+    <arg name="throttled_topic" default="true"/> <!-- enable throttled image topic -->
+    <arg name="throttled_topic_rate" default="5.0"/> <!-- throttled image topic rate -->
     <arg name="simulator" default="false"/>
 
     <node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
@@ -43,4 +45,8 @@
     <node pkg="clover" type="camera_markers" ns="main_camera" name="main_camera_markers">
         <param name="scale" value="3.0"/>
     </node>
+
+    <!-- image topic throttled -->
+    <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
+        args="messages image_raw $(arg throttled_topic_rate) image_raw_throttled" if="$(arg throttled_topic)"/>
 </launch>

clover/src/simple_offboard.cpp

@@ -37,6 +37,7 @@
 #include <mavros_msgs/State.h>
 #include <mavros_msgs/StatusText.h>
 #include <mavros_msgs/ManualControl.h>
+#include <mavros_msgs/Altitude.h>
 
 #include <clover/GetTelemetry.h>
 #include <clover/Navigate.h>
@@ -54,6 +55,7 @@ using namespace clover;
 using mavros_msgs::PositionTarget;
 using mavros_msgs::AttitudeTarget;
 using mavros_msgs::Thrust;
+using mavros_msgs::Altitude;
 
 // tf2
 tf2_ros::Buffer tf_buffer;
@@ -96,10 +98,12 @@ Thrust thrust_msg;
 TwistStamped rates_msg;
 TransformStamped target, setpoint;
 geometry_msgs::TransformStamped body;
+geometry_msgs::TransformStamped terrain;
 
 // State
 PoseStamped nav_start;
 PoseStamped setpoint_position, setpoint_position_transformed;
+Vector3Stamped setpoint_z, setpoint_z_transformed; // for z-only commands
 Vector3Stamped setpoint_velocity, setpoint_velocity_transformed;
 QuaternionStamped setpoint_attitude, setpoint_attitude_transformed;
 float setpoint_yaw_rate;
@@ -122,6 +126,8 @@ enum setpoint_type_t setpoint_type = NONE;
 
 enum { YAW, YAW_RATE, TOWARDS } setpoint_yaw_type;
 
+bool setpoint_z_valid = false;
+
 // Last received telemetry messages
 mavros_msgs::State state;
 mavros_msgs::StatusText statustext;
@@ -173,6 +179,15 @@ void handleLocalPosition(const PoseStamped& pose)
 	// TODO: terrain?, home?
 }
 
+void handleAltitude(const Altitude& alt)
+{
+	// publish terrain frame
+	if (!std::isfinite(alt.bottom_clearance)) return;
+	terrain.header.stamp = alt.header.stamp;
+	terrain.transform.translation.z = -alt.bottom_clearance;
+	transform_broadcaster->sendTransform(terrain);
+}
+
 // wait for transform without interrupting publishing setpoints
 inline bool waitTransform(const string& target, const string& source,
                           const ros::Time& stamp, const ros::Duration& timeout) // editorconfig-checker-disable-line
@@ -421,6 +436,18 @@ void publish(const ros::Time stamp)
 		}
 	}
 
+	if (setpoint_z_valid && setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == POSITION) {
+		setpoint_z.header.stamp = stamp;
+		try {
+			tf_buffer.transform(setpoint_z, setpoint_z_transformed, local_frame, ros::Duration(0.05));
+			setpoint_position_transformed.pose.position.z = setpoint_z_transformed.vector.z;
+
+		} catch (const tf2::TransformException& e) {
+			ROS_WARN_THROTTLE(10, "can't transform z coordinate from %s to %s, ignoring z coordinate", 
+			                  setpoint_z.header.frame_id.c_str(), local_frame.c_str());
+		}
+	}
+
 	if (setpoint_type == POSITION) {
 		position_msg = setpoint_position_transformed;
 	}
@@ -556,7 +583,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 
 		// look up for reference frame
 		auto search = reference_frames.find(frame_id);
-		const string& reference_frame = search == reference_frames.end() ? frame_id : search->second;
+		const string& reference_frame = search == reference_frames.end() ? frame_id : search->second; // when not found it's the same frame
 
 		// Serve "partial" commands
 
@@ -583,22 +610,33 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
 			}
 		}
 
-		if (!auto_arm && std::isfinite(yaw_rate) &&
-		    isnan(x) && isnan(y) && isnan(z) && isnan(vx) && isnan(vy) && isnan(vz) &&
-		    isnan(pitch) && isnan(roll) && isnan(yaw) && isnan(thrust) &&
+		if (!auto_arm && std::isfinite(z) &&
+		    isnan(x) && isnan(y) && isnan(vx) && isnan(vy) && isnan(vz) &&
+		    isnan(pitch) && isnan(roll) && isnan(thrust) &&
 		    isnan(lat) && isnan(lon)) {
-			// change only the yaw rate
-			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL || setpoint_type == VELOCITY) {
-				message = "Changing yaw rate only";
+			// set only the z
+			if (setpoint_type == POSITION || setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
+				if (!waitTransform(setpoint_position.header.frame_id, frame_id, stamp, transform_timeout))
+					throw std::runtime_error("Can't transform from " + frame_id + " to " + setpoint_position.header.frame_id);
 
-				setpoint_yaw_type = YAW_RATE;
-				setpoint_yaw_rate = yaw_rate;
+				message = "Changing z only";
+
+				setpoint_z.header.frame_id = frame_id;
+				setpoint_z.header.stamp = stamp;
+				setpoint_z.vector.z = z;
+				setpoint_z_valid = true;
 				goto publish_setpoint;
+
 			} else {
-				throw std::runtime_error("Setting yaw rate is possible only when position or velocity setpoints active");
+				throw std::runtime_error("Setting z is possible only when position setpoint active");
 			}
 		}
 
+		// commands without z
+		if (isnan(z) && setpoint_z_valid && (sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == POSITION)) {
+			z = 0;
+		}
+
 		// Serve normal commands
 
 		if (sp_type == NAVIGATE || sp_type == POSITION) {
@@ -860,6 +898,13 @@ bool land(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
 	return false;
 }
 
+bool release(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res)
+{
+	setpoint_timer.stop();
+	res.success = true;
+	return true;
+}
+
 int main(int argc, char **argv)
 {
 	ros::init(argc, argv, "simple_offboard");
@@ -881,6 +926,7 @@ int main(int argc, char **argv)
 	nh_priv.param("check_kill_switch", check_kill_switch, true);
 	nh_priv.param("default_speed", default_speed, 0.5f);
 	nh_priv.param<string>("body_frame", body.child_frame_id, "body");
+	nh_priv.param<string>("terrain_frame", terrain.child_frame_id, "terrain");
 	nh_priv.getParam("reference_frames", reference_frames);
 
 	// Default reference frames
@@ -916,6 +962,13 @@ int main(int argc, char **argv)
 	auto manual_control_sub = nh.subscribe(mavros + "/manual_control/control", 1, &handleMessage<mavros_msgs::ManualControl, manual_control>);
 	auto local_position_sub = nh.subscribe(mavros + "/local_position/pose", 1, &handleLocalPosition);
 
+	ros::Subscriber altitude_sub;
+	if (!body.child_frame_id.empty() && !terrain.child_frame_id.empty()) {
+		terrain.header.frame_id = body.child_frame_id;
+		terrain.transform.rotation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, 0);
+		altitude_sub = nh.subscribe(mavros + "/altitude", 1, &handleAltitude);
+	}
+
 	// Setpoint publishers
 	position_pub = nh.advertise<PoseStamped>(mavros + "/setpoint_position/local", 1);
 	position_raw_pub = nh.advertise<PositionTarget>(mavros + "/setpoint_raw/local", 1);
@@ -933,6 +986,7 @@ int main(int argc, char **argv)
 	auto sa_serv = nh.advertiseService("set_attitude", &setAttitude);
 	auto sr_serv = nh.advertiseService("set_rates", &setRates);
 	auto ld_serv = nh.advertiseService("land", &land);
+	auto rl_serv = nh_priv.advertiseService("release", &release);
 
 	// Setpoint timer
 	setpoint_timer = nh.createTimer(ros::Duration(1 / nh_priv.param("setpoint_rate", 30.0)), &publishSetpoint, false, false);

clover/test/basic.py

@@ -24,6 +24,7 @@ def test_simple_offboard_services_available():
     rospy.wait_for_service('set_attitude', timeout=5)
     rospy.wait_for_service('set_rates', timeout=5)
     rospy.wait_for_service('land', timeout=5)
+    rospy.wait_for_service('simple_offboard/release', timeout=5)
 
 def test_web_video_server(node):
     try:

clover/test/basic.test

@@ -37,6 +37,9 @@
 
     <node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" required="true"/>
 
+    <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
+        args="messages image_raw 5.0 image_raw_throttled" required="true"/>
+
     <param name="test_module" value="$(find clover)/test/basic.py"/>
     <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>

docs/en/camera.md

@@ -145,6 +145,8 @@ rospy.spin()
 
 The script will take up to 100% CPU capacity. To slow down the script artificially, you can use [throttling](http://wiki.ros.org/topic_tools/throttle) of frames from the camera, for example, at 5 Hz (`main_camera.launch`):
 
+> **Note** Starting from [image](image.md) version **0.24** `image_raw_throttled` topic is available without addition configuration.
+
 ```xml
 <node pkg="topic_tools" name="cam_throttle" type="throttle"
     args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>

docs/en/simple_offboard.md

@@ -305,6 +305,16 @@ rosservice call /land "{}"
 
 > **Caution** In recent PX4 versions, the vehicle will be switched out of LAND mode to manual mode, if the remote control sticks are moved significantly.
 
+### release
+
+If it's necessary to pause sending setpoint messages, use the `simple_offboard/release` service:
+
+```python
+release = rospy.ServiceProxy('simple_offboard/release', Trigger)
+
+release()
+```
+
 ## Additional materials
 
 * [ArUco-based position estimation and navigation](aruco.md).

docs/ru/camera.md

@@ -147,6 +147,8 @@ rospy.spin()
 
 Скрипт будет занимать 100% процессора. Для искусственного замедления работы скрипта можно запустить [throttling](http://wiki.ros.org/topic_tools/throttle) кадров с камеры, например, в 5 Гц (`main_camera.launch`):
 
+> **Note** Начиная с версии [образа](image.md) **0.24** топик `image_raw_throttled` доступен без дополнительной конфигурации.
+
 ```xml
 <node pkg="topic_tools" name="cam_throttle" type="throttle"
     args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>

docs/ru/simple_offboard.md

@@ -305,6 +305,16 @@ rosservice call /land "{}"
 
 > **Caution** В более новых версиях PX4 коптер выйдет из режима LAND в ручной режим, если сильно перемещать стики.
 
+### release
+
+В случае необходимости приостановки отправки setpoint-сообщений, используйте сервис `simple_offboard/release`:
+
+```python
+release = rospy.ServiceProxy('simple_offboard/release', Trigger)
+
+release()
+```
+
 ## Дополнительные материалы
 
 * [Полеты в поле ArUco-маркеров](aruco.md).