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update ros launch files and nodes for update of rotors_simulator

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Thomas Gubler
2015-02-28 18:15:51 +01:00
parent 1837440e43
commit c07c39bc43
13 changed files with 67 additions and 33 deletions
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src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
+3 -3
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@@ -40,7 +40,7 @@
#include <ros/ros.h>
#include <px4.h>
#include <lib/mathlib/mathlib.h>
#include <mav_msgs/MotorSpeed.h>
#include <mav_msgs/CommandMotorSpeed.h>
#include <string>
class MultirotorMixer
@@ -129,7 +129,7 @@ MultirotorMixer::MultirotorMixer():
_rotors(_config_index[0])
{
_sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback, this);
_pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands", 10);
_pub = _n.advertise<mav_msgs::CommandMotorSpeed>("command/motor_speed", 10);
if (!_n.hasParam("motor_scaling_radps")) {
_n.setParam("motor_scaling_radps", 150.0);
@@ -237,7 +237,7 @@ void MultirotorMixer::actuatorControlsCallback(const px4::actuator_controls_0 &m
mix();
// publish message
mav_msgs::MotorSpeed rotor_vel_msg;
mav_msgs::CommandMotorSpeed rotor_vel_msg;
double scaling;
double offset;
_n.getParamCached("motor_scaling_radps", scaling);