int main(int argc, char** argv) {
ros::init(argc, argv, "multiquad_script_test");
ros::NodeHandle node;
ros::Rate rate(FRAMES_PER_SEC);
// Create quads
Quad quad1("quad01");
Quad quad2("quad02");
// Group quads together
Formation form;
form.add_quad(quad1);
form.add_quad(quad2);
// form.add_script<Takeoff>(new Takeoff(0.0));
ROS_INFO("Boundary checking starting...");
while(node.ok()) {
form.run();
rate.sleep();
}
return 0;
}
int main(int argc, char** argv) {
// ROS initialization stuff
ros::init(argc, argv, "quadscript_example");
ros::NodeHandle node;
// Set the rate to run everything at. FRAMES_PER_SEC is set in
// constants_config.h
ros::Rate rate(FRAMES_PER_SEC);
// Create Quad objects with the namespace corresponding to the
// actual quadcopter, or the type of fake quad for FakeQuads.
FakeQuad fake(WAND_MOVABLE);
Quad quad1("quad01");
Quad quad2("quad02");
// Add quads to a formation to give them access to each other and
// make group movements easier.
Formation form;
form.add_quad(fake);
form.add_quad(quad1);
form.add_quad(quad2);
// Tells the entire formation to takeoff to the specified height.
// Does not do anything for any FakeQuads in the formation.
form.add_script<Takeoff>(new Takeoff(0.5));
// Sets quad1 to the specified position (first 3), with the specified
// orientation quaternion (last 4)
quad1.add_script(new SetPose(-1, -0.7, 0.5, 0, 0, 0, -1));
// Sets quad1's most recently added script to need a wand check, meaning
// it won't move on to the next script until the wand signal is given.
quad1.back()->set_needsWandCheck(true);
// Same for quad2
quad2.add_script(new SetPose(-1, 0.7, 0.5, 0, 0, 0, -1));
quad2.back()->set_needsWandCheck(true);
// Sets quads to follow the 0th index quad in the formation (last arg of ctor),
// with the offset (x, y, z) specified in first 3 args.
// 0th index quad in the formation is a WAND_MOVABLE FakeQuad, so the quads
// will follow the imaginary point set by the FakeQuad.
quad1.add_script(new FollowOffset(0.6, 0, 0, 0));
quad2.add_script(new FollowOffset(-0.6, 0, 0, 0));
// View QuadScripts.h for more details and documentation of how to
// use specific scripts
ROS_INFO("Starting...");
// Loops FRAMES_PER_SEC times per second, running the publisher in each active
// QuadScript every time. Instead of form.run(), can also use quad#.run() for
// individual quads.
while(node.ok()) {
form.run();
rate.sleep();
}
return 0;
}