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ros: mavlink node: add mavconn link

sbg
Thomas Gubler 10 years ago
parent
commit
001575e740
  1. 4
      CMakeLists.txt
  2. 2
      package.xml
  3. 2
      src/platforms/ros/nodes/mavlink/mavlink.cpp
  4. 2
      src/platforms/ros/nodes/mavlink/mavlink.h

4
CMakeLists.txt

@ -3,6 +3,7 @@ project(px4)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-D__PX4_ROS) add_definitions(-D__PX4_ROS)
add_definitions(-D__EXPORT=) add_definitions(-D__EXPORT=)
add_definitions(-DMAVLINK_DIALECT=common)
## Find catkin macros and libraries ## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
@ -16,6 +17,7 @@ find_package(catkin REQUIRED COMPONENTS
gazebo_msgs gazebo_msgs
sensor_msgs sensor_msgs
mav_msgs mav_msgs
libmavconn
) )
find_package(Eigen REQUIRED) find_package(Eigen REQUIRED)
@ -109,7 +111,7 @@ generate_messages(
catkin_package( catkin_package(
INCLUDE_DIRS src/include INCLUDE_DIRS src/include
LIBRARIES px4 LIBRARIES px4
CATKIN_DEPENDS message_runtime roscpp rospy std_msgs CATKIN_DEPENDS message_runtime roscpp rospy std_msgs libmavconn
DEPENDS system_lib DEPENDS system_lib
) )

2
package.xml

@ -44,10 +44,12 @@
<build_depend>rospy</build_depend> <build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend> <build_depend>std_msgs</build_depend>
<build_depend>eigen</build_depend> <build_depend>eigen</build_depend>
<build_depend>libmavconn</build_depend>
<run_depend>roscpp</run_depend> <run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend> <run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend> <run_depend>std_msgs</run_depend>
<run_depend>eigen</run_depend> <run_depend>eigen</run_depend>
<run_depend>libmavconn</run_depend>
<!-- The export tag contains other, unspecified, tags --> <!-- The export tag contains other, unspecified, tags -->

2
src/platforms/ros/nodes/mavlink/mavlink.cpp

@ -49,6 +49,8 @@ using namespace px4;
Mavlink::Mavlink() : Mavlink::Mavlink() :
_n() _n()
{ {
_link = mavconn::MAVConnInterface::open_url("udp://localhost:14551@localhost:14552");
} }
int main(int argc, char **argv) int main(int argc, char **argv)

2
src/platforms/ros/nodes/mavlink/mavlink.h

@ -41,6 +41,7 @@
*/ */
#include "ros/ros.h" #include "ros/ros.h"
#include <mavconn/interface.h>
namespace px4 namespace px4
{ {
@ -55,6 +56,7 @@ public:
protected: protected:
ros::NodeHandle _n; ros::NodeHandle _n;
mavconn::MAVConnInterface::Ptr _link;
}; };
} }

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