void initialize(UAS &uas_)
{
bool tf_listen;
uas = &uas_;
// main params
sp_nh.param("reverse_throttle", reverse_throttle, false);
// tf params
sp_nh.param("tf/listen", tf_listen, false);
sp_nh.param<std::string>("tf/frame_id", tf_frame_id, "local_origin");
sp_nh.param<std::string>("tf/child_frame_id", tf_child_frame_id, "attitude");
sp_nh.param("tf/rate_limit", tf_rate, 10.0);
if (tf_listen) {
ROS_INFO_STREAM_NAMED("attitude", "Listen to desired attitude transform " << tf_frame_id
<< " -> " << tf_child_frame_id);
tf2_start("AttitudeSpTF", &SetpointAttitudePlugin::transform_cb);
}
else {
twist_sub = sp_nh.subscribe("cmd_vel", 10, &SetpointAttitudePlugin::twist_cb, this);
pose_sub = sp_nh.subscribe("attitude", 10, &SetpointAttitudePlugin::pose_cb, this);
}
throttle_sub = sp_nh.subscribe("att_throttle", 10, &SetpointAttitudePlugin::throttle_cb, this);
}
void initialize(UAS &uas_)
{
bool tf_listen;
uas = &uas_;
// tf params
sp_nh.param("tf/listen", tf_listen, false);
sp_nh.param<std::string>("tf/frame_id", tf_frame_id, "local_origin");
sp_nh.param<std::string>("tf/child_frame_id", tf_child_frame_id, "setpoint");
sp_nh.param("tf/rate_limit", tf_rate, 50.0);
if (tf_listen) {
ROS_INFO_STREAM_NAMED("setpoint", "Listen to position setpoint transform " << tf_frame_id
<< " -> " << tf_child_frame_id);
tf2_start("PositionSpTF", &SetpointPositionPlugin::transform_cb);
}
else {
setpoint_sub = sp_nh.subscribe("local", 10, &SetpointPositionPlugin::setpoint_cb, this);
}
}
void initialize(UAS &uas_)
{
PluginBase::initialize(uas_);
bool tf_listen;
// tf params
sp_nh.param("tf/listen", tf_listen, false);
sp_nh.param<std::string>("tf/frame_id", tf_frame_id, "map");
sp_nh.param<std::string>("tf/child_frame_id", tf_child_frame_id, "vision_estimate");
sp_nh.param("tf/rate_limit", tf_rate, 50.0);
if (tf_listen) {
ROS_INFO_STREAM_NAMED("vision_pose", "Listen to vision transform " << tf_frame_id
<< " -> " << tf_child_frame_id);
tf2_start("VisionPoseTF", &VisionPoseEstimatePlugin::transform_cb);
}
else {
vision_sub = sp_nh.subscribe("pose", 10, &VisionPoseEstimatePlugin::vision_cb, this);
vision_cov_sub = sp_nh.subscribe("pose_cov", 10, &VisionPoseEstimatePlugin::vision_cov_cb, this);
}
}
