rect_other.cpp

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

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

// 订阅的无人机当前位置数据
geometry_msgs::PoseStamped local_pos;
void local_pos_cb(const geometry_msgs::PoseStamped::ConstPtr& msg){
    local_pos = *msg;
}

int main(int argc, char **argv)
{   
    ros::init(argc, argv, "offb_cfx");
    ros::NodeHandle nh;
    // 订阅无人机当前状态 
    ros::Subscriber state_sub = nh.subscribe<mavros_msgs::State>
            ("mavros/state", 10, state_cb);
     // 订阅无人机当前位置（反馈消息） 
    ros::Subscriber local_pos_sub = nh.subscribe<geometry_msgs::PoseStamped>
            ("mavros/local_position/pose", 10, local_pos_cb);
    // 发布无人机本地位置（控制）
    ros::Publisher local_pos_pub = nh.advertise<geometry_msgs::PoseStamped>
            ("mavros/setpoint_position/local", 10);

    // 服务的客户端（设定无人机的模式、状态）
    ros::ServiceClient arming_client = nh.serviceClient<mavros_msgs::CommandBool>
            ("mavros/cmd/arming");
    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();
    }

    geometry_msgs::PoseStamped pose;
    pose.pose.position.x = 0;
    pose.pose.position.y = 0;
    pose.pose.position.z = 2;

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

 // 设定无人机工作模式 offboard
    mavros_msgs::SetMode offb_set_mode;
    offb_set_mode.request.custom_mode = "OFFBOARD";
// 无人机解锁
    mavros_msgs::CommandBool arm_cmd;
    arm_cmd.request.value = true;

// 记录当前时间
    ros::Time last_request = ros::Time::now();

//  用于走圈的变量
    int step = 0;
    int sametimes = 0;

    while(ros::ok()){
        // 无人机状态设定与判断      
        // 进入while循环后，先循环5s，然后再向客户端发送无人机状态设置的消息
        // set_mode_client.call   arming_client.call 
        if( current_state.mode != "OFFBOARD" &&
            (ros::Time::now() - last_request > ros::Duration(5.0))){
            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();
            }
            else    //  无人机 Offboard enabled && Vehicle armed 后
            {        //  无人机走矩形 每到达一个点停一会
                     //  z: 0-->10 10-->10 10-->10 10-->10  10-->10 10-->0 
                     //  x: 0-->0   0-->40   40-->40 40-->0    0-->0     0-->0
                     //  y: 0-->0   0-->0     0-->20   20-->20  20-->0   0-->0
                     //  local_pos_pub.publish(pose);
                switch (step)
                {
                case 0: 
                    //take off to 2m  位置点控制
                    pose.pose.position.x = 0;
                    pose.pose.position.y = 0;
                    pose.pose.position.z = 2;
                    //
                    if (local_pos.pose.position.z > 1.9 && local_pos.pose.position.z < 2.1)
                    {
                        if (sametimes > 20)
                        {
                            sametimes = 0;
                            step = 1;
                            pose.pose.position.x = 40;
                            pose.pose.position.y = 0;
                            pose.pose.position.z = 2;
                        }
                        else
                            sametimes++;
                    }
                    else
                    {
                        sametimes = 0;
                    }
                    local_pos_pub.publish(pose);
                    break;
                case 1:

                    if (local_pos.pose.position.x > 39.9 && local_pos.pose.position.x < 40.1)
                    {
                        if (sametimes > 20)
                        {
                            step = 2;
                            pose.pose.position.x = 40;
                            pose.pose.position.y = 20;
                            pose.pose.position.z = 2;
                        }
                        else
                            sametimes++;
                    }
                    else
                    {
                        sametimes = 0;
                    }
                    break;
                case 2:

                    if (local_pos.pose.position.y > 19.9 && local_pos.pose.position.y < 20.1)
                    {
                        if (sametimes > 20)
                        {               
                            step = 3;
                            pose.pose.position.x = 0;
                            pose.pose.position.y = 20;
                            pose.pose.position.z = 2;
                        }
                        else
                            sametimes++;
                    }
                    else
                    {
                        sametimes = 0;
                    }
                    break;
                case 3:

                    if (local_pos.pose.position.x > -0.1 && local_pos.pose.position.x < 0.1)
                    {
                        if (sametimes > 20)
                        {

                            step = 4;
                            pose.pose.position.x = 0;
                            pose.pose.position.y = 0;
                            pose.pose.position.z = 2;
                        }
                        else
                            sametimes++;
                    }
                    else
                    {
                        sametimes = 0;
                    }
                    break;
                case 4:

                    if (local_pos.pose.position.y > -0.1 && local_pos.pose.position.y < 0.1)
                    {
                        if (sametimes > 20)
                        {
                            step = 5;
                        }
                        else
                            sametimes++;
                    }
                    else
                    {
                        sametimes = 0;
                    }
                    break;
                case 5:   // 准备降落
                    offb_set_mode.request.custom_mode = "AUTO.LAND";
                    if (current_state.mode != "AUTO.LAND" && (ros::Time::now() - last_request > ros::Duration(5.0)))
                    {

                        if (set_mode_client.call(offb_set_mode) && offb_set_mode.response.mode_sent)
                        {
                            ROS_INFO("AUTO.LAND enabled");
                        }
                        last_request = ros::Time::now();
                    }
                    break;
                default:
                    break;
                }
            }
        }

        // 发布位置控制信息
        local_pos_pub.publish(pose);
        ros::spinOnce();
        rate.sleep();   // 影响消息发布与更新的周期
    }
    return 0;
}