Alexia branch

.gitignore

@@ -1,6 +1,9 @@
 # Created by https://www.toptal.com/developers/gitignore/api/ros2,visualstudiocode,vim,python,c++,cmake,opencv
 # Edit at https://www.toptal.com/developers/gitignore?templates=ros2,visualstudiocode,vim,python,c++,cmake,opencv
 
+### OctoMap ###
+*.bt
+
 ### C++ ###
 # Prerequisites
 *.d

drone_test.sh

@@ -4,10 +4,20 @@ ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 2, ta
 
 ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 1, n: 10., e: 10., d: -10., vn: 1., ve: 1., vd: 1., vtol_config: 1}"
 
-ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 1, n: 200., e: 200., d: -10., vn: 1., ve: 1., vd: 1., vtol_config: 0}"
+ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 1, n: -200., e: 200., d: -10., vn: 1., ve: 1., vd: 1., vtol_config: 1}"
 
 ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 1, n: 0., e: 0., d: -10., vn: 1., ve: 1., vd: 1., vtol_config: 0}"
 
+ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 1, n: 100., e: 100., d: -10., vn: 1., ve: 1., vd: 1., vtol_config: 0}"
+
+ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 1, n: 200., e: 200., d: -10., vn: 1., ve: 1., vd: 1., vtol_config: 0}"
+
+ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 1, n: 10., e: 10., d: -10., vn: 1., ve: 1., vd: 1., vtol_config: 0}"
+
+ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 1, n: 0., e: 0., d: -10., vn: 1., ve: 1., vd: 1., vtol_config: 1}"
+
+ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 1, n: 200., e: 200., d: -10., vn: 1., ve: 1., vd: 1., vtol_config: 0}"
+
 ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 1, n: 0., e: 0., d: -10., vn: 1., ve: 1., vd: 1., vtol_config: 1}"
 
 ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 3}"

drone_test2.sh

@@ -0,0 +1,19 @@
+source drone_ws/install/setup.bash
+
+ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 2, takeoff_height: 10.}"
+
+
+ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 1, n: 100., e: 100., d: -10., vn: 1., ve: 1., vd: 1., vtol_config: 0}"
+
+ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 1, n: 200., e: 200., d: -10., vn: 1., ve: 1., vd: 1., vtol_config: 0}"
+
+ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 1, n: 10., e: 10., d: -10., vn: 1., ve: 1., vd: 1., vtol_config: 0}"
+
+ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 1, n: 0., e: 0., d: -10., vn: 1., ve: 1., vd: 1., vtol_config: 1}"
+
+ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 1, n: 200., e: 200., d: -10., vn: 1., ve: 1., vd: 1., vtol_config: 0}"
+
+ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 1, n: 0., e: 0., d: -10., vn: 1., ve: 1., vd: 1., vtol_config: 1}"
+
+ros2 topic pub -t 1 /enqueue_command custom_msgs/msg/Action "{action_type: 3}"
+

drone_ws/src/custom_msgs/msg/DroneState.msg

@@ -20,6 +20,8 @@ uint32 ACRO=12
 uint32 STABILIZED=13
 uint32 RATTITUDE=14
 
+string current_command
+
 uint32 flight_mode
 
 bool in_air
@@ -56,6 +58,11 @@ float64 y
 float64 z
 float64 w
 
+# this is also the attitude, as roll, pitch and yaw
+float64 roll_deg
+float64 pitch_deg
+float64 yaw_deg
+
 # this is the angular velocity (refer to)[https://mariogc.com/post/angular-velocity-quaternions/]
 float64 roll_rad_s
 float64 pitch_rad_s