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94 lines
2.2 KiB
C++
94 lines
2.2 KiB
C++
#include "class_model/mission.h"
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#include "class_model/choose_leader.h"
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int main(int argc, char **argv) {
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// Init ROS node
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ros::init(argc, argv, "drone1_node");
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// reate Assync spiner
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ros::AsyncSpinner spinner(0);
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spinner.start();
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ModeClass mode_object;
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ControlClass control_object;
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ReceiverClass receiver_object;
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MissionClass mission_object;
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CommandClass command_object;
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// SelectionClass selection_object;
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mode_object.set_Mode("GUIDED");
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control_object.arm();
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control_object.takeoff(4.5);
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sleep(2);
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// selection_object.choose_leader();
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// mission_object.start(); //default hover in goose formation
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while(ros::ok()){
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//json_object.get_command(); //for follower
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}
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ros::waitForShutdown();
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return 0;
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}
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/*
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ThreadGPSClass gps_object;
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ModeClass mode_object;
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ControlClass control_object;
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SelectClass select_formation;
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ReceiverClass receiver_object;
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MissionClass mission_object;
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CommandClass command_object;
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std::string type = "";
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mode_object.set_Mode("GUIDED");
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control_object.arm();
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control_object.takeoff(4.5);
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sleep(5);
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while(ros::ok()){
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// type = receiver_object.check_command();
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// // ROS_INFO("%s",type.c_str());
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// if(type == "" || type == "init"){
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// select_formation.goose_formation();
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// ROS_INFO("init formation");
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// }else if(type == "line"){
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// select_formation.line_formation();
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// // ROS_INFO("line foemation");
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// }else if(type == "row"){
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// select_formation.row_formation();
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// }else if(type == "circle"){
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// select_formation.circle_formation();
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// }else if(type == "stop"){
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// select_formation.stop();
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// }else if(type == "land"){
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// mode_object.set_Mode("LAND");
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// }
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//mission_object.cruise(20,20);
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select_formation.goose_formation(5,0);
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// }else if (type == "hex"){
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// select_formation.Hex_formation();
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// }
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select_formation.row_formation(-5,0);
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sleep(0.5);
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// command_object.set_velocity(0 ,0 ,0,0,1);
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if(type == "stop"){
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select_formation.stop();
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}else if(type == "land"){
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mode_object.set_Mode("LAND");
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}
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}
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*/ |