CPS_Drone_Navigation_Code.txt

/**
 * @file offb_node.cpp
 * @brief offboard example node, written with mavros version 0.14.2, px4 flight
 * stack and tested in Gazebo SITL
 */

#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/CommandTOL.h>
#include <mavros_msgs/SetMode.h>
#include <mavros_msgs/State.h>

#define FLIGHT_ALTITUDE 0.5f

mavros_msgs::State current_state;
void state_cb(const mavros_msgs::State::ConstPtr& msg){
    current_state = *msg;
}

mavros_msgs::ManualControl current_input;
void state_cb(const mavros_msgs::ManualControl::ConstPtr& msg){
    current_input = *msg;
    ROS_INFO(current_input.buttons);
}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "offb_node");
    ros::NodeHandle nh;

    ros::Subscriber state_sub = nh.subscribe<mavros_msgs::State>
            ("mavros/state", 10, state_cb);
    ros::Subscriber manual_sub = nh.subscribe<mavros_msgs::ManualControl>
            ("mavros/manual_control/control ", 10, state_cb);
    ros::Publisher local_pos_pub = nh.advertise<geometry_msgs::PoseStamped>
            ("mavros/setpoint_position/local", 10);
    ros::Publisher global_pos_pub = nh.advertise<mavros_msgs::GlobalPositionTarget>
            ("mavros/setpoint_position/global", 10);
    ros::ServiceClient arming_client = nh.serviceClient<mavros_msgs::CommandBool>
            ("mavros/cmd/arming");
    ros::ServiceClient land_client = nh.serviceClient<mavros_msgs::CommandTOL>
            ("mavros/cmd/land");
    ros::ServiceClient set_mode_client = nh.serviceClient<mavros_msgs::SetMode>
            ("mavros/set_mode");

    //the setpoint publishing rate MUST be faster than 2Hz
    ros::Rate rate(20.0);

    // wait for FCU connection
    while(ros::ok() && current_state.connected){
        ros::spinOnce();
        rate.sleep();
        ROS_INFO("connecting to FCT...");
    }

    mavros_msgs::GlobalPositionTarget global_pose;

    global_pose.latitude = 32.266505;
    global_pose.longitude = -111.27434599999998;
    global_pose.altitude = 661;

    geometry_msgs::PoseStamped pose;
    pose.pose.position.x = 0;
    pose.pose.position.y = 0;
    pose.pose.position.z = FLIGHT_ALTITUDE;

    //send a few setpoints before starting
    for(int i = 100; ros::ok() && i > 0; --i){
        local_pos_pub.publish(pose);
        ros::spinOnce();
        rate.sleep();
    }

    mavros_msgs::SetMode offb_set_mode;
    offb_set_mode.request.custom_mode = "OFFBOARD";

    mavros_msgs::CommandBool arm_cmd;
    arm_cmd.request.value = true;

    mavros_msgs::CommandTOL land_cmd;
    land_cmd.request.yaw = 0;
    land_cmd.request.latitude = 0;
    land_cmd.request.longitude = 0;
    land_cmd.request.altitude = 0;

    ros::Time last_request = ros::Time::now();

    // change to offboard mode and arm
    while(ros::ok() && !current_state.armed){
        if( current_state.mode != "OFFBOARD" &&
            (ros::Time::now() - last_request > ros::Duration(5.0))){
            ROS_INFO(current_state.mode.c_str());
            if( set_mode_client.call(offb_set_mode) &&
                offb_set_mode.response.mode_sent){
                ROS_INFO("Offboard enabled");
            }
            last_request = ros::Time::now();
        } else {
            if( !current_state.armed &&
                (ros::Time::now() - last_request > ros::Duration(5.0))){
                if( arming_client.call(arm_cmd) &&
                    arm_cmd.response.success){
                    ROS_INFO("Vehicle armed");
                }
                last_request = ros::Time::now();
            }
        }
        local_pos_pub.publish(pose);
        ros::spinOnce();
        rate.sleep();
    }

    // go to the first waypoint
    pose.pose.position.x = 0;
    pose.pose.position.y = 0;
    pose.pose.position.z = FLIGHT_ALTITUDE;

    ROS_INFO("going to the first way point");
    for(int i = 0; ros::ok() && i < 10*20 ; ++i){
        global_pos_pub.publish(global_pose);
        ros::spinOnce();
        rate.sleep();
    }
    ROS_INFO("first way point finished!");

    ROS_INFO("going to the first way point");
    for(int i = 0; ros::ok() && i < 10*20; ++i){
        local_pos_pub.publish(pose);
        ros::spinOnce();
        rate.sleep();
    }
    ROS_INFO("first way point finished!");


    // go to the second waypoint
    pose.pose.position.x = 0;
    pose.pose.position.y = 0.1;
    pose.pose.position.z = FLIGHT_ALTITUDE;

    //send setpoints for 10 seconds
    ROS_INFO("going to second way point");
    for(int i = 0; ros::ok() && i < 10*20; ++i){

        local_pos_pub.publish(pose);
        ros::spinOnce();
        rate.sleep();
    }
    ROS_INFO("second way point finished!");

    // go to the third waypoint
    pose.pose.position.x = 0.1;
    pose.pose.position.y = 0.1;
    pose.pose.position.z = FLIGHT_ALTITUDE;
    //send setpoints for 10 seconds
    ROS_INFO("going to third way point");
    for(int i = 0; ros::ok() && i < 10*20; ++i){

        local_pos_pub.publish(pose);
        ros::spinOnce();
        rate.sleep();
    }
    ROS_INFO("third way point finished!");

    // go to the forth waypoint
    pose.pose.position.x = 0.1;
    pose.pose.position.y = 0;
    pose.pose.position.z = FLIGHT_ALTITUDE;
    //send setpoints for 10 seconds
    ROS_INFO("going to forth way point");
    for(int i = 0; ros::ok() && i < 10*20; ++i){

        local_pos_pub.publish(pose);
        ros::spinOnce();
        rate.sleep();
    }
    ROS_INFO("forth way point finished!");

    pose.pose.position.x = 0;
    pose.pose.position.y = 0;
    pose.pose.position.z = FLIGHT_ALTITUDE;
    ROS_INFO("going back to the first point!");
    //send setpoints for 10 seconds
    for(int i = 0; ros::ok() && i < 10*20; ++i){

        local_pos_pub.publish(pose);
        ros::spinOnce();
        rate.sleep();
    }

    ROS_INFO("tring to land");
    while (!(land_client.call(land_cmd) &&
             land_cmd.response.success)){
        //local_pos_pub.publish(pose);
        ROS_INFO("tring to land");
        ros::spinOnce();
        rate.sleep();
    }
    return 0;
}


//
// Created by Arda on 5/8/2018.
//

#ifndef PX4_ROUTE_H
#define PX4_ROUTE_H

//#include <geometry_msgs/PoseStamped.h>



class Route {
private:
    float foci;
    float verti;
    /*
    struct Point{
        float x;
        float y;
        float z;
    };
     std::queue<Point> wpoints;
     */
    queue <geometry_msgs::PoseStamped> wpoints;


public:
    //Class Constructor
    Route();

    //Alternative Constructor;
    Route(float fociIn, float vertiIn);

    //Shows the next point on route.
    geometry_msgs::PoseStamped nextPoint();

    //Pop the front value
    void pop();

    //Prints the route
    void print();

    //Returns isEmpty value of queue
    bool isEmpty();

};
#endif //PX4_ROUTE_H

//
// Created by Arda on 5/8/2018.
//
#include <geometry_msgs/PoseStamped.h>
#include <queue>
#include <iostream>
#include "Route.h"
#include <math.h>
#define FLIGHT_ALTITUDE 0.5f
#define SCAN_RADIUS 50.0

//Class Constructor
Route::Route():foci(0),verti(0){}

//Alternative Constructor;
Route::Route(float fociIn, float vertiIn):foci(fociIn),verti(vertiIn){
    geometry_msgs::PoseStamped pose;
    pose.pose.position.z = FLIGHT_ALTITUDE;

    double k = 50;//Directly proportional to amount of circles in spiral
    double s = 5;//Invertly proportional to the distance between each point

    double dt = 1;
    double t = 0;
    while(t<k){
        pose.pose.position.x = (foci*t*cos(t))/k;
        pose.pose.position.y = (verti*t*sin(t))/k;
        wpoints.push(pose);

        t+= M_PI/(dt*s);
        dt = t/M_PI + 1;
    }
}

geometry_msgs::PoseStamped Route::nextPoint(){
    if(!wpoints.isEmpty()){
        geometry_msgs::PoseStamped nWayPoint = wpoints.front();
        return nWayPoint;
    }else{
        geometry_msgs::PoseStamped pose;
        std::cout<<"No more Waypoints left"<<std::endl;
        return pose;
    }
}

void Route::pop(){
    if(!wpoints.isEmpty()) {
        wpoints.pop();
    }else{
        std::cout<<"No more Waypoints left"<<std::endl;
    }
}

void Route::print(){
    if(!wpoints.isEmpty()){
        for(size_t i =0;i<4;i++) {
            float x = wpoints.front().pose.position.x;
            float y = wpoints.front().pose.position.y;
            float z = wpoints.front().pose.position.z;
            std::cout << "Waypoint "<<(i+1)<<": ("<<x<<" , "<<y<<" , "<<z<<")"<<std::endl;
            wpoints.pop();
        }
    }
}

bool Route::isEmpty(){
    return wpoints.isEmpty();
}