Move examples to separate package inside repository.

Signed-off-by: Basti <[email protected]>

README.md

@@ -1,20 +1,3 @@
-# PX4-ROS2 bridge
+# tbd
 
-[![GitHub license](https://img.shields.io/github/license/PX4/px4_ros_com.svg)](https://github.com/PX4/px4_ros_com/blob/master/LICENSE) [![GitHub (pre-)release](https://img.shields.io/github/release-pre/PX4/px4_ros_com.svg)](https://github.com/PX4/px4_ros_com/releases/tag/beta) [![DOI](https://zenodo.org/badge/142936318.svg)](https://zenodo.org/badge/latestdoi/142936318) [![Build and Test package](https://github.com/PX4/px4_ros_com/workflows/Build%20and%20Test%20package/badge.svg?branch=master)](https://github.com/PX4/px4_ros_com/actions)
-
-This package materializes the ROS2 side of PX4-FastRTPS/DDS bridge, establishing a bridge between the PX4 autopilot stack through a micro-RTPS bridge, Fast-RTPS(DDS) and ROS2. It has a straight dependency on the [`px4_msgs`](https://github.com/PX4/px4_msgs) package, as it depends on the IDL files, to generate the micro-RTPS bridge agent, and on the ROS interfaces and typesupport, to allow building and running the example nodes.
-
-The [`master`](https://github.com/PX4/px4_ros_com/tree/master) branch of this package composes the ROS2 package and the ROS2 side (agent) of the bridge. The [`ros1`](https://github.com/PX4/px4_ros_com/tree/ros1) branch is a product of the `master` and represents the ROS(1) package and the ROS(1) side of the bridge, for wich it is required using the [`ros1_bridge`](https://github.com/ros2/ros1_bridge).
-
-## Install, build and usage
-
-Check the [RTPS/ROS2 Interface](https://dev.px4.io/en/middleware/micrortps.html) section on the PX4 Devguide for details on how to install the required dependencies, build the package (composed by the two branches) and use it.
-
-## Bug tracking and feature requests
-
-Use the [Issues](https://github.com/PX4/px4_ros_com/issues) section to create a new issue. Report your issue or feature request [here](https://github.com/PX4/px4_ros_com/issues/new).
-
-## Questions and troubleshooting
-
-Reach the PX4 development team on the `#messaging` or `#ros` PX4 Slack channels:
-[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
+main repo readme

examples/README.md

@@ -0,0 +1,32 @@
+# Examples
+
+This directory contains a set of examples application for the PX4-ROS2 bridge. All examples are intended to demonstrate basic interactions between PX4 and ROS2. Feel free to play with the code, extend it and copy it into your own project.
+
+It is assumed that a reads has a basic understanding of running ROS2 applications as well as PX4.
+
+# Layout
+
+There are several separate examples. Each example assembles its own executable and can be used standalone to interact with a PX4 vehicle from your ROS2 environment.
+
+The examples are structured:
+
+* `listeners` 
+
+   ...
+
+* `publisher` ...
+
+* `offboard` ...
+
+
+# Using Examples
+
+...
+
+# Copying Examples
+
+...
+
+# Contributing Examples
+
+...

examples/listeners/CMakeLists.txt

@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.5)
+project(px4_ros_com_listener_examples)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(px4_msgs REQUIRED)
+
+add_executable(sensor_combined_listener src/01_sensor_combined_listener.cpp)
+ament_target_dependencies(sensor_combined_listener rclcpp px4_msgs)
+
+add_executable(vehicle_gps_position_listener src/02_vehicle_gps_position_listener.cpp)
+ament_target_dependencies(vehicle_gps_position_listener rclcpp px4_msgs)
+
+ament_package()
+
+install(
+    TARGETS
+        sensor_combined_listener
+        vehicle_gps_position_listener
+    DESTINATION 
+        lib/${PROJECT_NAME})

examples/listeners/README.md

@@ -0,0 +1,3 @@
+# tbd
+
+listeners readme

examples/listeners/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>px4_ros_com_listener_examples</name>
+  <version>1.0.0</version>
+  <description>Example of ROS2 and Px4 interaction - listeners</description>
+  <license>BSD 3-Clause</license>
+  <maintainer email="[email protected]">Nuno Marques</maintainer>
+  <author email="[email protected]">Nuno Marques</author>
+  <author email="[email protected]">Bastian Jäger</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>px4_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/examples/listeners/sensor_combined_listener.cpp → examples/listeners/src/01_sensor_combined_listener.cpp

@@ -1,7 +1,7 @@
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
- *           2018 PX4 Pro Development Team. All rights reserved.
+ *           2021 PX4 Pro Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:
@@ -33,7 +33,7 @@
 
 /**
  * @brief Sensor Combined uORB topic listener example
- * @file sensor_combined_listener.cpp
+ * @file 01_sensor_combined_listener.cpp
  * @addtogroup examples
  * @author Nuno Marques <[email protected]>
  * @author Vicente Monge
@@ -50,10 +50,7 @@ class SensorCombinedListener : public rclcpp::Node
 public:
 	explicit SensorCombinedListener() : Node("sensor_combined_listener") {
 		subscription_ = this->create_subscription<px4_msgs::msg::SensorCombined>(
-			"fmu/sensor_combined/out",
-#ifdef ROS_DEFAULT_API
-            10,
-#endif
+			"fmu/sensor_combined/out", 10,
 			[this](const px4_msgs::msg::SensorCombined::UniquePtr msg) {
 			std::cout << "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n";
 			std::cout << "RECEIVED SENSOR COMBINED DATA"   << std::endl;

src/examples/listeners/vehicle_gps_position_listener.cpp → examples/listeners/src/02_vehicle_gps_position_listener.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- * Copyright 2019 PX4 Development Team. All rights reserved.
+ * Copyright 2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:
@@ -32,7 +32,7 @@
 
 /**
  * @brief Vehicle GPS position uORB topic listener example
- * @file vehicle_global_position_listener.cpp
+ * @file 02_vehicle_global_position_listener.cpp
  * @addtogroup examples
  * @author Nuno Marques <[email protected]>
  */
@@ -48,10 +48,7 @@ class VehicleGpsPositionListener : public rclcpp::Node
 public:
 	explicit VehicleGpsPositionListener() : Node("vehicle_global_position_listener") {
 		subscription_ = this->create_subscription<px4_msgs::msg::VehicleGpsPosition>(
-			"fmu/vehicle_gps_position/out",
-#ifdef ROS_DEFAULT_API
-            10,
-#endif
+			"fmu/vehicle_gps_position/out", 10,
 			[this](const px4_msgs::msg::VehicleGpsPosition::UniquePtr msg) {
 			std::cout << "\n\n\n\n\n\n\n\n\n\n";
 			std::cout << "RECEIVED VEHICLE GPS POSITION DATA"   << std::endl;

examples/offboard/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.5)
+project(px4_ros_com_offboard_example)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(px4_msgs REQUIRED)
+
+add_executable(offboard_control src/offboard_control.cpp)
+ament_target_dependencies(offboard_control rclcpp px4_msgs)
+
+ament_package()
+
+install(
+    TARGETS
+        offboard_control
+    DESTINATION 
+        lib/${PROJECT_NAME})

examples/offboard/README.md

@@ -0,0 +1,3 @@
+# tbd
+
+offbaord readme

examples/offboard/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>px4_ros_com_offboard_example</name>
+  <version>1.0.0</version>
+  <description>Example of ROS2 and Px4 interaction - offboard</description>
+  <license>BSD 3-Clause</license>
+  <maintainer email="[email protected]">Nuno Marques</maintainer>
+  <author email="[email protected]">Nuno Marques</author>
+  <author email="[email protected]">Bastian Jäger</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>px4_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/examples/offboard/offboard_control.cpp → examples/offboard/src/offboard_control.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- * Copyright 2020 PX4 Development Team. All rights reserved.
+ * Copyright 2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:
@@ -61,21 +61,12 @@ using namespace px4_msgs::msg;
 class OffboardControl : public rclcpp::Node {
 public:
 	OffboardControl() : Node("offboard_control") {
-#ifdef ROS_DEFAULT_API
 		offboard_control_mode_publisher_ =
 			this->create_publisher<OffboardControlMode>("fmu/offboard_control_mode/in", 10);
 		trajectory_setpoint_publisher_ =
 			this->create_publisher<TrajectorySetpoint>("fmu/trajectory_setpoint/in", 10);
 		vehicle_command_publisher_ =
 			this->create_publisher<VehicleCommand>("fmu/vehicle_command/in", 10);
-#else
-		offboard_control_mode_publisher_ =
-			this->create_publisher<OffboardControlMode>("fmu/offboard_control_mode/in");
-		trajectory_setpoint_publisher_ =
-			this->create_publisher<TrajectorySetpoint>("fmu/trajectory_setpoint/in");
-		vehicle_command_publisher_ =
-			this->create_publisher<VehicleCommand>("fmu/vehicle_command/in");
-#endif
 
 		// get common timestamp
 		timesync_sub_ =
@@ -84,6 +75,15 @@ class OffboardControl : public rclcpp::Node {
 					timestamp_.store(msg->timestamp);
 				});
 
+
+        this->declare_parameter("pos_x_m");
+        this->declare_parameter("pos_y_m");
+        this->declare_parameter("pos_z_m");
+
+        this->get_parameter_or("pos_x_m", pos_x_m_, 0.f);
+        this->get_parameter_or("pos_y_m", pos_y_m_, 0.f);
+        this->get_parameter_or("pos_z_m", pos_z_m_, -5.f);
+
 		offboard_setpoint_counter_ = 0;
 
 		auto timer_callback = [this]() -> void {
@@ -93,7 +93,7 @@ class OffboardControl : public rclcpp::Node {
 				this->publish_vehicle_command(VehicleCommand::VEHICLE_CMD_DO_SET_MODE, 1, 6);
 
 				// Arm the vehicle
-				this->arm();
+				//this->arm();
 			}
 
             		// offboard_control_mode needs to be paired with trajectory_setpoint
@@ -127,6 +127,10 @@ class OffboardControl : public rclcpp::Node {
 	void publish_trajectory_setpoint() const;
 	void publish_vehicle_command(uint16_t command, float param1 = 0.0,
 				     float param2 = 0.0) const;
+
+    float pos_x_m_{0.f};
+    float pos_y_m_{0.f};
+    float pos_z_m_{0.f};
 };
 
 /**
@@ -172,10 +176,10 @@ void OffboardControl::publish_offboard_control_mode() const {
 void OffboardControl::publish_trajectory_setpoint() const {
 	TrajectorySetpoint msg{};
 	msg.timestamp = timestamp_.load();
-	msg.x = 0.0;
-	msg.y = 0.0;
-	msg.z = -5.0;
-	msg.yaw = -3.14; // [-PI:PI]
+	msg.x = pos_x_m_;
+	msg.y = pos_y_m_;
+	msg.z = pos_z_m_;
+	msg.yaw = NAN; // [-PI:PI]
 
 	trajectory_setpoint_publisher_->publish(msg);
 }

examples/publishers/CMakeLists.txt

@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 3.5)
+project(px4_ros_com_publisher_examples)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(px4_msgs REQUIRED)
+
+add_executable(debug_vect_publisher src/01_debug_vect_publisher.cpp)
+ament_target_dependencies(debug_vect_publisher rclcpp px4_msgs)
+
+add_executable(arm_publisher src/02_arm_publisher.cpp)
+ament_target_dependencies(arm_publisher rclcpp px4_msgs)
+
+add_executable(disarm_publisher src/03_disarm_publisher.cpp)
+ament_target_dependencies(disarm_publisher rclcpp px4_msgs)
+
+add_executable(takeoff_publisher src/04_takeoff_publisher.cpp)
+ament_target_dependencies(takeoff_publisher rclcpp px4_msgs)
+
+add_executable(land_publisher src/05_land_publisher.cpp)
+ament_target_dependencies(land_publisher rclcpp px4_msgs)
+
+ament_package()
+
+install(
+    TARGETS
+        debug_vect_publisher
+        arm_publisher
+        disarm_publisher
+        takeoff_publisher
+        land_publisher
+    DESTINATION 
+        lib/${PROJECT_NAME})

examples/publishers/README.md

@@ -0,0 +1,3 @@
+# tbd
+
+publishers readme

examples/publishers/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>px4_ros_com_publisher_examples</name>
+  <version>0.1.0</version>
+  <description>Example of ROS2 and Px4 interaction - advertisers</description>
+  <license>BSD 3-Clause</license>
+  <maintainer email="[email protected]">Nuno Marques</maintainer>
+  <author email="[email protected]">Nuno Marques</author>
+  <author email="[email protected]">Bastian Jäger</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>px4_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>