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Update ctrl_node.cpp #8

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Update ctrl_node.cpp #8

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110 changes: 81 additions & 29 deletions Ctrl/src/ctrl_node.cpp
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Original file line number Diff line number Diff line change
@@ -1,33 +1,85 @@
#include "ros/ros.h"
#include <ros/ros.h>
#include "CtrlFSM.h"
#include <signal.h>
#include "std_msgs/Float32.h"

FiniteStateMachine* pFSM; //# https://www.youtube.com/watch?v=jaitqSU2HIA&ab_channel=BRicey
CtrlFSM* pFSM; //# Finite State Machine 객체

void mySigintHandler(int sig) {
ROS_INFO("[Ctrl] Exiting...");
ros::shutdown();
}

int main(int argc, char* argv[]) {
ros::init(argc, argv, "Ctrl");
ros::NodeHandle nh("~");

//# 쓸데없는 약어는 지양
ros::Subscriber sub_odometry = nh.subscribe<nav_msgs::Odometry>("odometry",
100,
boost::bind(&Odom_Data_t::feed, &fsm.odom_data, _1),
ros::VoidConstPtr(),
ros::TransportHints().tcpNoDelay());

ros::Subscriber sub_trajectory = nh.subscribe<quadrotor_msgs::PositionCommand>("trajectory",
100,
boost::bind(&Command_Data_t::feed, &fsm.cmd_data, _1),
ros::VoidConstPtr(),//# ???
ros::TransportHints().tcpNoDelay());

ros::Subscriber sub_imu = nh.subscribe<sensor_msgs::Imu>("imu",
100,
boost::bind(&Imu_Data_t::feed, &fsm.imu_data, _1),
ros::VoidConstPtr(),
ros::TransportHints().tcpNoDelay());
while (ros::ok()) {


}

return 0;
//# ROS 노드 초기화
ros::init(argc, argv, "Ctrl");
ros::NodeHandle nh("~"); // 파라미터 접근을 위한 노드 핸들러
signal(SIGINT, mySigintHandler); // Ctrl+C를 처리하기 위한 시그널 핸들러

//# 파라미터 초기화
Parameter_t param;
param.config_from_ros_handle(nh);
param.init();

// 컨트롤러 및 관련 객체 초기화
Controller controller(param);
HovThrKF hov_thr_kf(param);
CtrlFSM fsm(param, controller, hov_thr_kf);
pFSM = &fsm;

//# 호버 스로틀 칼만 필터 초기화
fsm.hov_thr_kf.init();
fsm.hov_thr_kf.set_hov_thr(param.hov_percent);

ROS_INFO("Initial value for hov_thr set to %.2f/%.2f",
fsm.hov_thr_kf.get_hov_thr(),
param.mass * param.gra / param.full_thrust);
ROS_INFO("Hovering thrust kalman filter is %s.",
param.hover.use_hov_percent_kf ? "used" : "NOT used");

//# 컨트롤러 설정
fsm.controller.config();

//# ROS 구독자 초기화
ros::Subscriber odom_sub =
nh.subscribe<nav_msgs::Odometry>("odom",
100,
boost::bind(&Odom_Data_t::feed, &fsm.odom_data, _1),
ros::VoidConstPtr(),
ros::TransportHints().tcpNoDelay());

ros::Subscriber cmd_sub =
nh.subscribe<quadrotor_msgs::PositionCommand>("cmd",
100,
boost::bind(&Command_Data_t::feed, &fsm.cmd_data, _1),
ros::VoidConstPtr(),
ros::TransportHints().tcpNoDelay());

ros::Subscriber imu_sub =
nh.subscribe<sensor_msgs::Imu>("imu",
100,
boost::bind(&Imu_Data_t::feed, &fsm.imu_data, _1),
ros::VoidConstPtr(),
ros::TransportHints().tcpNoDelay());

//# ROS 퍼블리셔 초기화
fsm.controller.ctrl_FCU_pub = nh.advertise<mavros_msgs::AttitudeTarget>("/setpoint_raw/attitude", 10);
fsm.controller.debug_roll_pub = nh.advertise<std_msgs::Float32>("/debug_roll", 10);
fsm.controller.debug_pitch_pub = nh.advertise<std_msgs::Float32>("/debug_pitch", 10);
fsm.traj_start_trigger_pub = nh.advertise<geometry_msgs::PoseStamped>("/traj_start_trigger", 10);

//# 제어 주기 설정
ros::Rate r(param.ctrl_rate);

//# 주요 루프
while (ros::ok()) {
r.sleep();
ros::spinOnce();

if (fsm.px4_init()) {
fsm.process();
}
}

return 0;
}
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