// Copyright (c) 2016-2016 The Regents of the University of California.
// All rights reserved.
//
// Permission is hereby granted, without written agreement and without
// license or royalty fees, to use, copy, modify, and distribute this
// software and its documentation for any purpose, provided that the above
// copyright notice and the following two paragraphs appear in all copies
// of this software.
//
// IN NO EVENT SHALL THE UNIVERSITY OF CALIFORNIA BE LIABLE TO ANY PARTY
// FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
// ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF
// THE UNIVERSITY OF CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF
// SUCH DAMAGE.
//
// THE UNIVERSITY OF CALIFORNIA SPECIFICALLY DISCLAIMS ANY WARRANTIES,
// INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE
// PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF
// CALIFORNIA HAS NO OBLIGATION TO PROVIDE MAINTENANCE, SUPPORT, UPDATES,
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//
/** This accessor uses the mavros ROS package to access a mavlink-based autopilot
* such as the APM, APM2 and Px4 in order retrieve the GPS location and altitude of the drone.
* In order to run this accessor you need a ROS distribtion (tested with indigo) and the mavros package.
* Plug in your mavelink-based autopilot (e.g. APM2), configure the baud rate using the command "rosed mavros apm2.launch"
* and launch the node using the command "roslaunch mavros apm2.launch". The accessor uses a websocket to access ros.
* Thus, you need also to install rosbridge_server and launch "roslaunch rosbridge_server rosbridge_websocket.launch".
*
* @accessor robotics/DroneLocation
* @author Eloi T. Pereira (eloi@berkeley.edu)
* @version $$Id$$
* @parameter {string} rosbridgeServer RosBridge server address
* @parameter {int} rosbridgePort RosBridge server port
* @output {double} lat Latitude of the drone
* @output {double} lon Longitude of the drone
* @output {double} alt Altitude of the drone
*/
// Stop extra messages from jslint and jshint. Note that there should
// be no space between the / and the * and global. See
// https://chess.eecs.berkeley.edu/ptexternal/wiki/Main/JSHint */
/*globals addInputHandler, get, error, exports, extend, get, input, output, parameter, require, send */
/*jshint globalstrict: true*/
'use strict';
/** Set up the accessor by defining the inputs and outputs.
*/
exports.setup = function () {
var sub = this.instantiate('RosSubscriber', 'robotics/RosSubscriber');
var g = this.instantiate('Global2LatLonAlt', 'robotics/Global2LatLonAlt');
sub.setParameter('topic', "/mavros/global_position/global");
this.parameter('rosbridgeServer', {
type: 'string',
value: 'localhost'
});
this.parameter('rosbridgePort', {
type: 'int',
value: 9090
});
this.input('server', {
'visibility': 'expert'
});
this.input('port', {
'visibility': 'expert'
});
this.output('lat', {
type: 'double',
value: 0.0
});
this.output('lon', {
type: 'double',
value: 0.0
});
this.output('alt', {
type: 'double',
value: 0.0
});
this.connect('server', sub, 'server');
this.connect('port', sub, 'port');
this.connect(sub, 'received', g, 'global');
this.connect(g, 'lat', 'lat');
this.connect(g, 'lon', 'lon');
this.connect(g, 'alt', 'alt');
};
exports.initialize = function () {
var server = this.getParameter('rosbridgeServer').toString();
var port = this.getParameter('rosbridgePort');
this.send('server', server);
this.send('port', port);
};