plaths last flight push

Onboard-SDK-ROS/include/dji_osdk_ros/bus_driver.h

@@ -111,7 +111,8 @@ ServiceAck obtainCtrlAuthority();
 
 bool takeoff();
 
-std::vector<float> relativePosition(float x, float y, float z, float yaw);
+void relativeVelocity(float x, float y, float z, float yaw, float dt);
+void relativePosition(float x, float y, float z, float yaw, float dt);
 
 float applyRotationAngle(float targetYaw);
 
@@ -136,7 +137,17 @@ bool overwatchFunction(dji_osdk_ros::Overwatch::Request &req, dji_osdk_ros::Over
 
 void gpsPosCallback(const sensor_msgs::NavSatFix::ConstPtr& msg);
 void posFeedbackCallback(const geometry_msgs::Transform::ConstPtr& msg);
+void pdPositionCallback(const geometry_msgs::Transform::ConstPtr& msg);
 void posTrackingCallback(const geometry_msgs::Transform::ConstPtr& msg);
 
+void pdMaxSpeedCallback(const std_msgs::Float32::ConstPtr& msg);
+void pdMaxYawSpeedCallback(const std_msgs::Float32::ConstPtr& msg);
+void pdSpeedScaleCallback(const std_msgs::Float32::ConstPtr& msg);
+void pdUpdateRateCallback(const std_msgs::Float32::ConstPtr& msg);
+void pdDampingRateCallback(const std_msgs::Float32::ConstPtr& msg);
+void pdFrequencyRateCallback(const std_msgs::Float32::ConstPtr& msg);
+void pdAngleOffsetRateCallback(const std_msgs::Float32::ConstPtr& msg);
+
+
 
 #endif // MISSION_NODE_H

Onboard-SDK-ROS/scripts/qualisysFeedback.py → Onboard-SDK-ROS/scripts/qualisysPublisher.py

@@ -14,8 +14,8 @@ def callback(data):
     # we must remapp
     #transform.translation = data.pose.position
     transform.translation.x = data.pose.position.x
-    transform.translation.y = data.pose.position.z
-    transform.translation.z = data.pose.position.y
+    transform.translation.y = data.pose.position.y
+    transform.translation.z = data.pose.position.z
     pub.publish(transform)
 
 

Onboard-SDK-ROS/scripts/qualisysSpoofRemote.py

+#!/usr/bin/python3
+
+import rospy
+import numpy as np
+from sensor_msgs.msg import NavSatFix
+from sensor_msgs.msg import Imu
+from std_msgs.msg import Float32
+from geometry_msgs.msg import PointStamped
+from geometry_msgs.msg import QuaternionStamped
+from geometry_msgs.msg import Transform
+from geometry_msgs.msg import Vector3
+from geometry_msgs.msg import Quaternion
+import math
+from pyproj import Transformer
+
+class QualisysSpoof():
+    def __init__(self):
+        rospy.init_node("qualisysSpoof")
+        # zero zero of fake qualisys frame
+        self.anchorPoint = rospy.get_param("~anchorPoint")
+        rospy.Subscriber("dji_osdk_ros/gps_position", NavSatFix, self.gpsCallback, queue_size = 1)
+        rospy.Subscriber("dji_osdk_ros/attitude", QuaternionStamped, self.rotCallback, queue_size = 1)
+        # rospy.Subscriber("dji_osdk_ros/height_above_takeoff", Float32, self.heightCallback, queue_size = 1)
+
+        # standing in for the feedback qualisys stream
+        self.posePublisher = rospy.Publisher("feedback", Transform, queue_size = 1)
+        self.quat = Quaternion()
+        self.transform = Transform()
+        self.startHeightSet = False
+        self.startHeight = 0.0
+        # self.height = 0.0
+
+    def point_rotation(self, origin, pt, ang):
+        # returns the pt rotated about the origin by ang (ang in degrees)
+        c = math.cos(math.radians(ang))
+        s = math.sin(math.radians(ang))
+        # translate to origin
+        pt_temp = [pt[0] - origin[0], pt[1] - origin[1]]
+        pt_spun = [ pt_temp[0]*c - pt_temp[1]*s, pt_temp[0]*s + pt_temp[1]*c ]
+        # translate back to frame
+        pt_spun = [pt_spun[0] + origin[0], pt_spun[1] + origin[1]]
+        return pt_spun
+
+    def meters2lat_lon(self, meters_point):
+        # returns point converted to lat lon from meters coordinate system
+        transformer = Transformer.from_crs(3857, 4326)
+        latlon_point = transformer.transform(meters_point[0], meters_point[1])
+        return latlon_point
+
+    def lat_lon2meters(self, latlon_point):
+        # returns point converted to meters from lat lon coordinate system
+        transformer = Transformer.from_crs(4326, 3857)
+        meters_point = transformer.transform(latlon_point[0], latlon_point[1])
+        return meters_point
+
+    def rotCallback(self, data):
+        self.quat = data.quaternion
+
+    def gpsCallback(self, data):
+        # convert and compare against home point
+        apMeters = self.lat_lon2meters([self.anchorPoint[0], self.anchorPoint[1]])
+        cpMeters = self.lat_lon2meters([data.latitude, data.longitude])
+        currentOffset = [cpMeters[0] - apMeters[0], cpMeters[1] - apMeters[1]]
+
+        # rotate current offset by a bit
+        currentOffset = self.point_rotation([0,0], currentOffset, rospy.get_param("~angleOffset"));
+
+        # save init height
+        if (not self.startHeightSet):
+            self.startHeightSet = True
+            self.startHeight = data.altitude
+
+        # performing dark magics
+        self.transform.translation.x = currentOffset[1]
+        self.transform.translation.y = currentOffset[0]
+        self.transform.translation.z = data.altitude - self.startHeight
+        self.transform.rotation = self.quat
+        self.posePublisher.publish(self.transform)
+
+if __name__ == '__main__':
+    qualer = QualisysSpoof()
+    rospy.spin()

Onboard-SDK-ROS/src/dji_osdk_ros/dji_vehicle_node.cpp

@@ -516,7 +516,7 @@ bool VehicleNode::initDataSubscribeFromFC()
 
   int nTopic100Hz    = topicList100Hz.size();
   if (ptr_wrapper_->initPackageFromTopicList(static_cast<int>(SubscribePackgeIndex::PACKAGE_ID_100HZ), nTopic100Hz,
-                                             topicList100Hz.data(), 1, 100))
+                                             topicList100Hz.data(), 1, 50))
   {
     ack = ptr_wrapper_->startPackage(static_cast<int>(SubscribePackgeIndex::PACKAGE_ID_100HZ), WAIT_TIMEOUT);
     if (ACK::getError(ack))
@@ -663,8 +663,10 @@ bool VehicleNode::initDataSubscribeFromFC()
   topicList400Hz.push_back(Telemetry::TOPIC_HARD_SYNC);
 
   int nTopic400Hz = topicList400Hz.size();
+  // if (ptr_wrapper_->initPackageFromTopicList(static_cast<int>(SubscribePackgeIndex::PACKAGE_ID_400HZ), nTopic400Hz,
+  //                                            topicList400Hz.data(), 1, 400))
   if (ptr_wrapper_->initPackageFromTopicList(static_cast<int>(SubscribePackgeIndex::PACKAGE_ID_400HZ), nTopic400Hz,
-                                             topicList400Hz.data(), 1, 400))
+                                             topicList400Hz.data(), 1, 50))
   {
     ack = ptr_wrapper_->startPackage(static_cast<int>(SubscribePackgeIndex::PACKAGE_ID_400HZ), WAIT_TIMEOUT);
     if(ACK::getError(ack))

Onboard-SDK-ROS/src/dji_osdk_ros/samples/bus_driver.cpp

@@ -51,13 +51,17 @@ ros::ServiceClient     waypoint_action_client;
 ros::ServiceClient     flight_control_client;
 ros::ServiceClient     mission_waypoint_client;
 ros::ServiceClient     obtain_ctrl_authority_client;
-ros::Publisher         syncPub; // thing to publish to sync topic "positionSync"
+// need to take another look at synchronization...
+// ros::Publisher         syncPub; // thing to publish to sync topic "positionSync"
 
 sensor_msgs::NavSatFix gps_pos; // gps position from drone
 geometry_msgs::Transform ex_pos; // position from external source (qualisys or some such)
-geometry_msgs::Transform track_pos; // position from external source (qualisys or some such)
-geometry_msgs::Transform previous_ex_pos; // position from external source (qualisys or some such)
-geometry_msgs::Transform previous_track_pos; // position from external source (qualisys or some such)
+geometry_msgs::Transform track_pos; // target position
+geometry_msgs::Transform previous_ex_pos;
+geometry_msgs::Transform previous_track_pos;
+
+geometry_msgs::Transform pd_pos; // desired pose from pd relative to qual center (only x on rotation)
+
 std::vector<float> expectedVel; // expected position after applying relative position move
 float feedbackYaw; // yaw as measured by pos ref
 float feedbackPitch; // pitch as measured by pos ref
@@ -65,7 +69,7 @@ float feedbackRoll; // roll as measured by pos ref
 float trackingYaw; // yaw to track
 float trackingPitch; // pitch to track
 float trackingRoll; // roll to track
-int calibrationWindow = 25; // the last _ position calls that are included in coordinate system calibration
+int calibrationWindow = 3; // the last _ position calls that are included in coordinate system calibration
 std::vector<float> calibrationWindowValues;
 float angleOffset;
 float controlLoopTime;
@@ -78,12 +82,25 @@ bool rotationMatrixCalibratedFlag = false;
 
 bool                   gps_home_flag = false;
 bool                   pos_home_flag = false;
-bool                   positionMissionFlag = false;
-bool                   waypointMissionFlag = false;
-bool                   positionPlaybackParam = false;
+bool                   localMissionFlag = false; // whether running position mission currently
+bool                   gpsMissionFlag = false; // whether running gps mission currently
+string                 missionTypeParam;
 ros::Subscriber        gps_pos_subscriber;
 ros::Subscriber        pos_feedback_subscriber;
 ros::Subscriber        pos_tracking_subscriber;
+ros::Subscriber        pd_position_subscriber;
+ros::Subscriber        pd_heading_subscriber;
+
+// temp subscribers to pick up puredata parameter information, will be removed once the right parameters are settled on
+ros::Subscriber        pd_parameter_MinSpeed_subscriber;
+ros::Subscriber        pd_parameter_MaxSpeed_subscriber;
+ros::Subscriber        pd_parameter_MaxYawSpeed_subscriber;
+ros::Subscriber        pd_parameter_SpeedScale_subscriber;
+ros::Subscriber        pd_parameter_UpdateRate_subscriber;
+ros::Subscriber        pd_parameter_Damping_subscriber;
+ros::Subscriber        pd_parameter_Frequency_subscriber;
+ros::Subscriber        pd_parameter_AngleOffset_subscriber;
+
 int                    droneId; // stupid but will work for now
 
 int                    waypointMissionUpdateCounter = 0; // counts iterations before we check waypoints again
@@ -96,15 +113,14 @@ int                    waypointNumber;
 int                    currentWaypoint = 0; // how many waypoints have we reached
 long double            initialWaypointDistance; // distance to first waypoint
 long double            initialPositionDistance; // distance to first position
-double                 baseSpeedParam;
-double                 minSpeedParam;
+double                 waypointSpeedParam;
+double                 positionThresholdParam;
+double                 angleOffsetParam;
 double		             maxSpeedParam;
 double                 speedScalarParam;
-double                 minYawSpeedParam;
 double                 maxYawSpeedParam;
 
 // inverse controller variables
-ros::WallTime          previousWallTime;
 double                 dt;
 double                 damping;
 double                 frequency;
@@ -119,10 +135,6 @@ double                 g;
 // converting degrees to radians
 long double toRadians(const long double degree)
 {
-  // cmath library in C++
-  // defines the constant
-  // M_PI as the value of
-  // pi accurate to 1e-30
   long double one_deg = (M_PI) / 180;
   return (one_deg * degree);
 }
@@ -147,8 +159,6 @@ float eucDistance(std::vector<float> a, std::vector<float> b)
 long double gpsDistance(long double lat1, long double long1, long double lat2, long double long2)
 {
   // Convert the latitudes
-  // and longitudes
-  // from degree to radians.
   lat1 = toRadians(lat1);
   long1 = toRadians(long1);
   lat2 = toRadians(lat2);
@@ -164,10 +174,7 @@ long double gpsDistance(long double lat1, long double long1, long double lat2, l
 
   ans = 2 * asin(sqrt(ans));
 
-  // Radius of Earth in
-  // Kilometers, R = 6371
-  // Use R = 3956 for miles
-  long double R = 6371;
+  long double R = 6371; // radius of earth
 
   // Calculate the result
   ans = ans * R;
@@ -194,14 +201,12 @@ std::vector<std::vector<float>> rotateAxisAngle(std::vector<float> u, float angl
   return rotationMatrix;
 }
 
-// Function that return
 // dot product of two vector array.
 float dotProduct(std::vector<float> vect_A, std::vector<float> vect_B)
 {
 
     float product = 0;
     int vectorSize = vect_A.size(); // both vectors must be of same length
-    // Loop for calculate cot product
     for (int i = 0; i < vectorSize; i++)
 
         product = product + vect_A[i] * vect_B[i];
@@ -217,7 +222,6 @@ float flatAngleBetween(std::vector<float> a, std::vector<float> b)
   return normalizeAngle(acosf(dotProd/(Magnitude3(a)*Magnitude3(b))));
 }
 
-// Function to find
 // cross product of two vector array.
 std::vector<float> crossProduct(std::vector<float> vect_A, std::vector<float> vect_B)
 {
@@ -251,10 +255,7 @@ std::vector<float> MatrixMultiply(std::vector <std::vector<float>> a, std::vecto
     const int n = a.size();     // a cols
     const int m = a[0].size();  // a rows
     std::vector <float> c(n);
-
     // the PAIN
-    // ROS_INFO("  rotation matrix calc:");
-
     for (auto k = 0; k < m; ++k) // row loop
     {
       for (auto i = 0; i < n; ++i) // col loop
@@ -267,32 +268,38 @@ std::vector<float> MatrixMultiply(std::vector <std::vector<float>> a, std::vecto
     return c;
 }
 
-std::vector<std::vector<float>> rotateAlign(std::vector<float> v1, std::vector<float> v2)
-{
-    std::vector<float> axis = normalizeVector(crossProduct(v1, v2));
-    float dotProd = dotProduct(normalizeVector(v1), normalizeVector(v2));
-    if (dotProd < -1.0)
-    {
-      dotProd = -1.0;
-    }
-    else if (dotProd > 1.0)
-    {
-      dotProd = 1.0;
-    }
-    poseRotationRadians = acosf(dotProd);
-    std::vector<std::vector<float>> result = rotateAxisAngle(axis, poseRotationRadians); // returns rotation matrix
+// std::vector<std::vector<float>> rotateAlign(std::vector<float> v1, std::vector<float> v2)
+// {
+//     std::vector<float> axis = normalizeVector(crossProduct(v1, v2));
+//     float dotProd = dotProduct(normalizeVector(v1), normalizeVector(v2));
+//     if (dotProd < -1.0)
+//     {
+//       dotProd = -1.0;
+//     }
+//     else if (dotProd > 1.0)
+//     {
+//       dotProd = 1.0;
+//     }
+//     poseRotationRadians = acosf(dotProd);
+//     std::vector<std::vector<float>> result = rotateAxisAngle(axis, poseRotationRadians); // returns rotation matrix
+//
+//     ROS_INFO("axis of rotation: (%f, %f, %f)", axis[0], axis[1], axis[2]);
+//     ROS_INFO("dot product: (%f)", dotProd);
+//     ROS_INFO("angle rad: (%f)", poseRotationRadians);
+//     return result;
+// }
 
-    ROS_INFO("axis of rotation: (%f, %f, %f)", axis[0], axis[1], axis[2]);
-    ROS_INFO("dot product: (%f)", dotProd);
-    ROS_INFO("angle rad: (%f)", poseRotationRadians);
-    return result;
+void pdPositionCallback(const geometry_msgs::Transform::ConstPtr& msg)
+{
+  pd_pos = *msg; // annnnnd thats it folks
 }
 
+// for those times where we actually fly outside lmao
 void gpsPosCallback(const sensor_msgs::NavSatFix::ConstPtr& msg)
 {
   gps_pos = *msg;
 
-  if (!waypointMissionFlag)
+  if (!gpsMissionFlag)
   {
     return; // peace out if not running mission
   }
@@ -338,7 +345,7 @@ void gpsPosCallback(const sensor_msgs::NavSatFix::ConstPtr& msg)
         // now update sync topic with progress through waypoints
         std_msgs::Float32 syncUpdate;
         syncUpdate.data = static_cast<float32_t>(currentWaypoint) + static_cast<float32_t>(static_cast<float32_t>(1) - progressDistance/nextWaypointDistance);
-        syncPub.publish(syncUpdate);
+        // syncPub.publish(syncUpdate);
 
         if(progressDistance < tolerance)
         {
@@ -359,6 +366,14 @@ void posFeedbackCallback(const geometry_msgs::Transform::ConstPtr& msg)
   previous_ex_pos = ex_pos;
   ex_pos = *msg; // alllllways load the message
 
+  // ROS_INFO("Current feedback postion %f, %f, %f", ex_pos.translation.x, ex_pos.translation.y, ex_pos.translation.z);
+  //
+  // // for fuckin symetry i guess
+  // if (!localMissionFlag)
+  // {
+  //   return; // peace out if not running mission
+  // }
+
   // FINE ill DO it MYself all ALONE
   feedbackYaw = atan2(2.0*(ex_pos.rotation.x*ex_pos.rotation.y + ex_pos.rotation.z*ex_pos.rotation.w), 1 - 2.0*(ex_pos.rotation.y*ex_pos.rotation.y + ex_pos.rotation.z*ex_pos.rotation.z));
   feedbackPitch = asin(2.0*(ex_pos.rotation.x*ex_pos.rotation.z - ex_pos.rotation.w*ex_pos.rotation.y));
@@ -367,22 +382,24 @@ void posFeedbackCallback(const geometry_msgs::Transform::ConstPtr& msg)
 
 void posTrackingCallback(const geometry_msgs::Transform::ConstPtr& msg)
 {
-
   previous_track_pos = track_pos;
   track_pos = *msg;
 
-  // FINE ill DO it MYself all ALONE
+  // // for fuckin symetry i guess
+  // if (!localMissionFlag)
+  // {
+  //   return; // peace out if not running mission
+  // }
+
   trackingYaw = atan2(2.0*(track_pos.rotation.x*track_pos.rotation.y + track_pos.rotation.z*track_pos.rotation.w), 1 - 2.0*(track_pos.rotation.y*track_pos.rotation.y + track_pos.rotation.z*track_pos.rotation.z));
   trackingPitch = asin(2.0*(track_pos.rotation.x*track_pos.rotation.z - track_pos.rotation.w*track_pos.rotation.y));
   trackingRoll = atan2(2.0*(track_pos.rotation.x*track_pos.rotation.w + track_pos.rotation.y*track_pos.rotation.z), 1 - 2.0*(track_pos.rotation.z*track_pos.rotation.z + track_pos.rotation.w*track_pos.rotation.w));
-
 }
 
 bool setupWaypointMission(int responseTimeout)
 {
   ros::spinOnce();
 
-  // ROS_INFO();
   while(!ros::param::has("/robot_list/robot_"+to_string(droneId)+"/numWaypoints"))
   {
     ROS_INFO("waiting for waypoints to load...");
@@ -432,8 +449,8 @@ bool runWaypointMission()
     return false;
   }
 
-  waypointMissionFlag = true;
-  positionMissionFlag = false;
+  gpsMissionFlag = true;
+  localMissionFlag = false;
   return true;
 }
 
@@ -441,26 +458,24 @@ bool runWaypointMission()
 
 bool runPositionMission()
 {
-
   std::vector<float> velocityCommand {0.0, 0.0, 0.0};
-  ros::Rate updateRate(updateRateParam); // update period for topics/commands
-  positionMissionFlag = true;
+  localMissionFlag = true;
+  gpsMissionFlag = false;
   int currentPositionIndex = 0;
   int numPositions;
   ros::param::get("/robot_list/robot_" + to_string(droneId) + "/numPositions", numPositions);
 
 
-  while (positionMissionFlag && ros::ok())
+  while (localMissionFlag && ros::ok())
   {
+    ros::Rate updateRate(updateRateParam);
     // let topics update
     ros::spinOnce();
 
-
-    dt = (ros::WallTime::now() - previousWallTime).toNSec()*1e-9;
-    g = 1/(1 + kd*dt + kp*dt*dt);
+    dt = controlLoopTime;
+    g = 1.0/(1.0 + kd*dt + kp*dt*dt);
     ksg = kp*g;
     kdg = (kd + kp*dt)*g;
-    previousWallTime = ros::WallTime::now();
 
     std::vector<float> currentPos
     {
@@ -468,6 +483,7 @@ bool runPositionMission()
       static_cast<float>(ex_pos.translation.y),
       static_cast<float>(ex_pos.translation.z)
     };
+    ROS_INFO("Current postion %f, %f, %f", currentPos[0], currentPos[1], currentPos[2]);
 
     std::vector<float> currentVel
     {
@@ -480,16 +496,17 @@ bool runPositionMission()
     std::vector<float> targetVel;
     float targetYaw;
 
+    // wip, just align w external reference
         // check expected velocity verses actual velocity
-    if (Magnitude3(velocityCommand) != 0.0 && Magnitude3(currentVel) != 0.0)
-    {
-      float ang = flatAngleBetween(velocityCommand, currentVel);
-      updateAngleScaler(ang);
-      ROS_INFO("new angle discrepancy!: %f", angleOffset);
-    }
+        // if (Magnitude3(velocityCommand) != 0.0 && Magnitude3(currentVel) != 0.0)
+        // {
+        //   float ang = flatAngleBetween(velocityCommand, currentVel);
+        //   updateAngleScaler(ang);
+        //   ROS_INFO("new angle discrepancy: %f", angleOffset);
+        // }
 
     // next depends on what mode we're in ------------------------------------
-    if (positionPlaybackParam)
+    if (missionTypeParam.compare("tracking") == 0)
     {
       targetPos = std::vector<float>
       {
@@ -507,7 +524,19 @@ bool runPositionMission()
 
       targetYaw = trackingYaw;
     }
-    else
+    else if (missionTypeParam.compare("puredata") == 0)
+    {
+      // let pure data handle positioning, we just load from topic
+      targetPos = std::vector<float>
+      {
+        static_cast<float>(pd_pos.translation.x),
+        static_cast<float>(pd_pos.translation.y),
+        static_cast<float>(pd_pos.translation.z)
+      };
+      targetYaw = pd_pos.rotation.x;
+      targetVel = std::vector<float> {0.0, 0.0, 0.0};
+    }
+    else if (missionTypeParam.compare("points") == 0)
     {
       std::vector<float> tempPos;
       ros::param::get("/robot_list/robot_" + to_string(droneId) + "/positions/position_" + to_string(currentPositionIndex), tempPos);
@@ -517,27 +546,26 @@ bool runPositionMission()
         tempPos[2],
         tempPos[3]
       };
-
+      //----------------------------------
       targetVel = std::vector<float> {0.0, 0.0, 0.0};
 
-      targetYaw = normalizeAngle((M_PI/180.0)*tempPos[4]);
-
+      //----------------------------------
+      targetYaw = normalizeAngle((M_PI/180.0)*tempPos[4]) + angleOffsetParam;
       // check if we're close to position
       float checkDist = eucDistance(currentPos, targetPos);
-      if (checkDist <= 0.2) //&& abs(currentYaw - targetYaw) <= 0.1) // close ish
+      if (checkDist <= positionThresholdParam) //&& abs(currentYaw - targetYaw) <= 0.1) // close ish
       {
         currentPositionIndex += 1; // go to next position
       }
       if (currentPositionIndex >= numPositions)
       {
-        positionMissionFlag = false;
+        localMissionFlag = false;
       }
-
     }
 
     float currentYaw = feedbackYaw;
-    ROS_INFO("Current postion %f, %f, %f", currentPos[0], currentPos[1], currentPos[2]);
     ROS_INFO("Target position %f, %f, %f", targetPos[0], targetPos[1], targetPos[2]);
+    ROS_INFO("Target velocity %f, %f, %f", targetVel[0], targetVel[1], targetVel[2]);
     ROS_INFO("Target yaw: %f", targetYaw);
     ROS_INFO("Current yaw: %f", currentYaw);
     ROS_INFO("Elapsed frame time: %f", static_cast<float>(dt));
@@ -548,29 +576,136 @@ bool runPositionMission()
     std::vector<float> force
     {
       // using commanded velocity instead of actual
-      static_cast<float>(((targetPos[0] - currentPos[0])*ksg + (targetVel[0] - velocityCommand[0])*kdg)*speedScalarParam),
-      static_cast<float>(((targetPos[1] - currentPos[1])*ksg + (targetVel[1] - velocityCommand[1])*kdg)*speedScalarParam),
-      static_cast<float>(((targetPos[2] - currentPos[2])*ksg + (targetVel[2] - velocityCommand[2])*kdg)*speedScalarParam)
+      static_cast<float>((targetPos[0] - currentPos[0])*ksg + (targetVel[0] - velocityCommand[0])*kdg),
+      static_cast<float>((targetPos[1] - currentPos[1])*ksg + (targetVel[1] - velocityCommand[1])*kdg),
+      static_cast<float>((targetPos[2] - currentPos[2])*ksg + (targetVel[2] - velocityCommand[2])*kdg)
     };
-
-    ROS_INFO("target velocity: %f, %f, %f", targetVel[0], targetVel[1], targetVel[2]);
-    ROS_INFO("current velocity: %f, %f, %f", currentVel[0], currentVel[1], currentVel[2]);
-
-    velocityCommand = std::vector<float> {velocityCommand[0] + dt*force[0], velocityCommand[1] + dt*force[1], velocityCommand[2] + dt*force[2]};
+    // velocityCommand = MatrixMultiply(rotateAxisAngle(std::vector<float> {0.0, 0.0, 1.0}, angleOffset), velocityCommand);
+    force = MatrixMultiply(rotateAxisAngle(std::vector<float> {0.0, 0.0, 1.0}, angleOffsetParam), force);
+    velocityCommand = std::vector<float> {velocityCommand[0]*speedScalarParam + dt*force[0], velocityCommand[1]*speedScalarParam + dt*force[1], velocityCommand[2]*speedScalarParam + dt*force[2]};
 
     if (Magnitude3(velocityCommand) > maxSpeedParam)
     {
       velocityCommand = normalizeVector(velocityCommand);
       velocityCommand = std::vector<float> {maxSpeedParam*velocityCommand[0], maxSpeedParam*velocityCommand[1], maxSpeedParam*velocityCommand[2]};
-      ROS_INFO("normalizing velocity command...");
     }
-    velocityCommand = MatrixMultiply(rotateAxisAngle(std::vector<float> {0.0, 0.0, 1.0}, angleOffset), velocityCommand);
     ROS_INFO("calling vel command %f, %f, %f", velocityCommand[0], velocityCommand[1], velocityCommand[2]);
-    expectedVel = relativePosition(velocityCommand[0], velocityCommand[1], velocityCommand[2], yawCommand);
+    relativeVelocity(velocityCommand[0], velocityCommand[1], velocityCommand[2], yawCommand, dt);
+    updateRate.sleep();
   }
   return true;
 }
 
+void relativeVelocity(float x, float y, float z, float yaw, float dt)
+{
+  // convert relative position to velocity command
+  std::vector<float> posVec {x, y, z};
+  float totalSpeed = Magnitude3(posVec);
+  float speed;
+  // float dt = controlLoopTime*1000.0;
+  if (totalSpeed > maxSpeedParam)
+  {
+    speed = maxSpeedParam;
+  }
+  else
+  {
+    speed = totalSpeed;
+  }
+
+  std::vector<float> velDir = normalizeVector(posVec);
+  std::vector<float> velVec = {velDir[0]*speed, velDir[1]*speed, velDir[2]*speed};
+
+  dji_osdk_ros::FlightTaskControl flightTaskControl;
+  dji_osdk_ros::JoystickParams joystickParams;
+
+  joystickParams.x = velVec[0];
+  joystickParams.y = velVec[1];
+  joystickParams.z = velVec[2];
+
+  if (abs(yaw) > maxYawSpeedParam)
+  {
+    if (yaw < 0)
+    {
+      yaw = -maxYawSpeedParam;
+    }
+    else
+    {
+      yaw = maxYawSpeedParam;
+    }
+  }
+
+  joystickParams.yaw = (180.0/M_PI)*yaw;
+
+  ROS_INFO("rel vel: (yaw rate: %fdeg/s, speed: %fm/s, over %fsec, going %fm)", joystickParams.yaw, speed, dt, totalSpeed);
+  ROS_INFO("---------------\n");
+
+  flightTaskControl.request.task = dji_osdk_ros::FlightTaskControl::Request::TASK_VELOCITY_AND_YAWRATE_CONTROL;
+  flightTaskControl.request.joystickCommand = joystickParams;
+  flightTaskControl.request.velocityControlTimeMs = dt;
+  flightTaskControl.request.posThresholdInM = 0.1;
+  flightTaskControl.request.yawThresholdInDeg = 1;
+  flight_control_client.call(flightTaskControl); // actually waits for drone to "reach" position
+
+  // return flightTaskControl.response.result;
+  // return std::vector<float> {(dt)*velVec[0], (dt)*velVec[1], (dt)*velVec[2]};
+  return;
+}
+
+void relativePosition(float x, float y, float z, float yaw, float dt)
+{
+  // // convert relative position to velocity command
+  std::vector<float> posVec {x, y, z};
+  float totalDist = Magnitude3(posVec);
+  // float speed;
+  // // float dt = controlLoopTime*1000.0;
+  // if ((totalDist/dt) > maxSpeedParam)
+  // {
+  //   speed = maxSpeedParam;
+  // }
+  // else
+  // {
+  //   speed = totalDist/dt;
+  // }
+  //
+  // std::vector<float> velDir = normalizeVector(posVec);
+  // std::vector<float> velVec = {velDir[0]*speed, velDir[1]*speed, velDir[2]*speed};
+  //
+  dji_osdk_ros::FlightTaskControl flightTaskControl;
+  dji_osdk_ros::JoystickParams joystickParams;
+
+  joystickParams.x = x;
+  joystickParams.y = y;
+  joystickParams.z = z;
+  //
+  // if (abs(yaw) > maxYawSpeedParam)
+  // {
+  //   if (yaw < 0)
+  //   {
+  //     yaw = -maxYawSpeedParam;
+  //   }
+  //   else
+  //   {
+  //     yaw = maxYawSpeedParam;
+  //   }
+  // }
+  joystickParams.yaw = (180.0/M_PI)*yaw;
+
+
+  ROS_INFO("rel pos: (yaw rate: %fdeg/s, speed: %fm/s, over %fsec, going %fm)", joystickParams.yaw, totalDist/dt, dt, totalDist);
+  ROS_INFO("---------------\n");
+
+  flightTaskControl.request.task = dji_osdk_ros::FlightTaskControl::Request::TASK_POSITION_AND_YAW_CONTROL;
+  flightTaskControl.request.joystickCommand = joystickParams;
+  flightTaskControl.request.velocityControlTimeMs = dt;
+  flightTaskControl.request.posThresholdInM = 0.1;
+  flightTaskControl.request.yawThresholdInDeg = 1;
+  flight_control_client.call(flightTaskControl); // actually waits for drone to "reach" position
+
+  // return flightTaskControl.response.result;
+  // return std::vector<float> {(dt)*velVec[0], (dt)*velVec[1], (dt)*velVec[2]};
+  return;
+}
+
 void setWaypointDefaults(WayPointSettings* wp)
 {
   wp->damping         = 0.25;
@@ -590,8 +725,8 @@ void setWaypointDefaults(WayPointSettings* wp)
 
 void setWaypointInitDefaults(dji_osdk_ros::MissionWaypointTask& waypointTask)
 {
-  waypointTask.velocity_range     = baseSpeedParam;
-  waypointTask.idle_velocity      = baseSpeedParam;
+  waypointTask.velocity_range     = waypointSpeedParam;
+  waypointTask.idle_velocity      = waypointSpeedParam;
   waypointTask.action_on_finish   = dji_osdk_ros::MissionWaypointTask::FINISH_NO_ACTION;
   waypointTask.mission_exec_times = 1;
   waypointTask.yaw_mode		  = dji_osdk_ros::MissionWaypointTask::YAW_MODE_RC;
@@ -684,10 +819,6 @@ ServiceAck missionAction(DJI::OSDK::DJI_MISSION_TYPE type,
     missionWpAction.response.cmd_set,
     missionWpAction.response.cmd_id,
     missionWpAction.response.ack_data };
-  // switch (type)
-  // {
-  //   case DJI::OSDK::WAYPOINT:
-  // }
 }
 
 bool takeoff()
@@ -708,85 +839,19 @@ bool land()
   return flightTaskControl.response.result;
 }
 
-std::vector<float> relativePosition(float x, float y, float z, float yaw)
-{
-  // convert relative position to velocity command
-  std::vector<float> posVec {x, y, z};
-  // TESTING SMALL ANGLE ERROR IN PLACEMENT OF DRONE
-  // ------------------------------
-  // posVec = MatrixMultiply(rotateAxisAngle(std::vector<float> {0.0, 0.0, 1.0}, (M_PI/180.0)*180.0), posVec);
-
-  float totalDist = Magnitude3(posVec);
-
-  float speed;
-  float totalTimeMs;
-  // first check if we can make it in the allotted time
-  if ((totalDist/controlLoopTime) > maxSpeedParam)
-  {
-    speed = maxSpeedParam;
-    totalTimeMs = controlLoopTime*1000.0;
-  }
-  else
-  {
-    speed = max(minSpeedParam, static_cast<double>(totalDist/controlLoopTime));
-    totalTimeMs = (totalDist/speed)*1000.0; // convert from s to ms, aim just short of position
-  }
-
-  std::vector<float> velDir = normalizeVector(posVec);
-  std::vector<float> velVec = {velDir[0]*speed, velDir[1]*speed, velDir[2]*speed};
-
-  dji_osdk_ros::FlightTaskControl flightTaskControl;
-  dji_osdk_ros::JoystickParams joystickParams;
-
-  joystickParams.x = velVec[0];
-  joystickParams.y = velVec[1];
-  joystickParams.z = velVec[2];
-  if (abs(yaw) >= 0.05)
-  {
-    float tempYawRate = (180.0/M_PI)*yaw/(totalTimeMs/1000.0);
-    if (abs(tempYawRate) > maxYawSpeedParam)
-    {
-      tempYawRate = (tempYawRate/abs(tempYawRate))*maxYawSpeedParam;
-      // if distance is small, let yaw dictate duration
-      // if (totalDist <= 0.1)
-      // {
-      //   totalTimeMs = (abs(yaw)/tempYawRate)*1000.0;
-      // }
-    }
-    joystickParams.yaw = tempYawRate;
-  }
-  else
-  {
-    joystickParams.yaw = 0.0;
-  }
-
-  ROS_INFO("yaw rate: %f, speed: %f, over %f sec, going %fm", joystickParams.yaw, speed, (totalTimeMs/1000.0), totalDist);
-  ROS_INFO("---------------\n");
-
-  flightTaskControl.request.task = dji_osdk_ros::FlightTaskControl::Request::TASK_VELOCITY_AND_YAWRATE_CONTROL;
-  flightTaskControl.request.joystickCommand = joystickParams;
-  flightTaskControl.request.velocityControlTimeMs = totalTimeMs;
-  flightTaskControl.request.posThresholdInM = 0.1;
-  flightTaskControl.request.yawThresholdInDeg = 1;
-  flight_control_client.call(flightTaskControl); // actually waits for drone to "reach" position
-
-  // return flightTaskControl.response.result;
-  return std::vector<float> {(totalTimeMs/1000.0)*velVec[0], (totalTimeMs/1000.0)*velVec[1], (totalTimeMs/1000.0)*velVec[2]};
-}
-
 bool stopMotion()
 {
-  if (waypointMissionFlag)
+  if (gpsMissionFlag)
   {
     dji_osdk_ros::MissionWpAction waypointAction;
     waypointAction.request.action = dji_osdk_ros::MissionWpAction::Request::ACTION_STOP; // stahhp
     waypoint_action_client.call(waypointAction);
-    waypointMissionFlag = false;
+    gpsMissionFlag = false;
   }
 
-  if (positionMissionFlag)
+  if (localMissionFlag)
   {
-    positionMissionFlag = false;
+    localMissionFlag = false;
   }
   return true;
 }
@@ -800,21 +865,6 @@ bool goHome()
   return flightTaskControl.response.result;
 }
 
-
-// void updateMagnitudeScaler(float newValue)
-// {
-//   // remove the last value and insert new one
-//   calibrationWindowValues.pop_back();
-//   auto firstIndex = calibrationWindowValues.begin();
-//   calibrationWindowValues.insert(firstIndex, newValue);
-//   float sumer = 0.0;
-//   for (int i = 0; i < calibrationWindowValues.size(); i++)
-//   {
-//     sumer += calibrationWindowValues[i];
-//   }
-//   poseMagnitudeScaler = sumer/calibrationWindowValues.size();
-// }
-
 void updateAngleScaler(float newValue)
 {
   // remove the last value and insert new one
@@ -826,42 +876,115 @@ void updateAngleScaler(float newValue)
   {
     sumer += calibrationWindowValues[i];
   }
-  // check for first iteration, everything else is zero
-  // if (sumer == newValue)
-  // {
-  //   // fill up with first value??
-  //   for (int i = 0; i < calibrationWindowValues.size(); i++)
-  //   {
-  //     calibrationWindowValues[i] = newValue;
-  //   }
-  // }
   angleOffset = sumer/calibrationWindowValues.size();
+  // angleOffset = calibrationWindowValues[firstIndex]; // just take most recent
 }
 
-void calibratePositionReference(std::vector<float> requestedPosition, std::vector<float> actualPosition)
+// WIP
+void calibratePositionReference()
 {
 
-  // calculate rotation matrix
-  poseRotationMatrix = rotateAlign(requestedPosition, actualPosition);
+  std::vector<float> deltaPosition = {1.0, 0.0, 0.0};
+  std::vector<float> startPosition
+  {
+    static_cast<float>(ex_pos.translation.x),
+    static_cast<float>(ex_pos.translation.y),
+    static_cast<float>(ex_pos.translation.z)
+  };
+  // go forward at 1m/s for 1s
+  relativeVelocity(deltaPosition[0], deltaPosition[1], deltaPosition[2], 0.0, 1.0);
+  ros::Rate(1).sleep();
+  ros::spinOnce(); // let topics update
+  std::vector<float> deltaPositionActual
+  {
+    static_cast<float>(ex_pos.translation.x) - startPosition[0],
+    static_cast<float>(ex_pos.translation.y) - startPosition[1],
+    static_cast<float>(ex_pos.translation.z) - startPosition[2]
+  };
+  relativeVelocity(-deltaPosition[0], -deltaPosition[1], -deltaPosition[2], 0.0, 1.0);
+  ros::Rate(1).sleep();
+  ros::spinOnce();
+
+  // recalculate the rotation offset
+  // check expected velocity verses actual velocity
+  ROS_INFO("calibrating angle offset");
+  if (Magnitude3(deltaPosition) != 0.0 && Magnitude3(deltaPositionActual) != 0.0)
+  {
+    float ang = -flatAngleBetween(deltaPositionActual, deltaPosition);
+    ROS_INFO("new angle offset: %f", ang);
+    angleOffsetParam = static_cast<double>(ang);
+    // updateAngleScaler(ang);
+  }
+
+}
+
+void pdMaxSpeedCallback(const std_msgs::Float32::ConstPtr& msg)
+{
+  // update MaxSpeed parameters
+  maxSpeedParam = msg->data;
+  return;
+}
 
-  // now get scaling difference between coordinate frames
-  float requestedPositionMag = Magnitude3(requestedPosition);
-  float actualPositionMag = Magnitude3(actualPosition);
+void pdMaxYawSpeedCallback(const std_msgs::Float32::ConstPtr& msg)
+{
+  // update MaxYawSpeed parameters
+  maxYawSpeedParam = msg->data;
+  return;
+}
 
-  poseMagnitudeScaler = (requestedPositionMag/actualPositionMag);
+void pdSpeedScaleCallback(const std_msgs::Float32::ConstPtr& msg)
+{
+  // update SpeedScale parameters
+  speedScalarParam = msg->data;
+  return;
+}
 
-  calibrationWindowValues = std::vector<float> {};
-  poseRotationMatrixValues = std::vector<std::vector<std::vector<float>>> {{{}}};
-  for(int i = 0; i < calibrationWindow; i++)
+void pdDampingCallback(const std_msgs::Float32::ConstPtr& msg)
+{
+  // update SpeedScale parameters
+  if (msg->data < 0.0)
+  {
+    return;
+  }
+  damping = static_cast<double>(msg->data);
+  kp = (6.0*frequency)*(6.0*frequency)* 0.25;
+  kd = 4.5*frequency*damping;
+  return;
+}
+
+void pdFrequencyCallback(const std_msgs::Float32::ConstPtr& msg)
+{
+  // update SpeedScale parameters
+  if (msg->data < 0.0)
   {
-    calibrationWindowValues.push_back(poseMagnitudeScaler);
-    poseRotationMatrixValues.push_back(poseRotationMatrix);
+    return;
   }
+  frequency = static_cast<double>(msg->data);
+  kp = (6.0*frequency)*(6.0*frequency)* 0.25;
+  kd = 4.5*frequency*damping;
+  return;
+}
+
+void pdAngleOffsetCallback(const std_msgs::Float32::ConstPtr& msg)
+{
+  // update SpeedScale parameters
+  angleOffsetParam = msg->data;
+  return;
+}
 
-  ROS_INFO("pose magnitude scalar %f", poseMagnitudeScaler);
+void pdUpdateRateCallback(const std_msgs::Float32::ConstPtr& msg)
+{
+  // update UpdateRate parameters
+  if (msg->data == 0.0)
+  {
+    return;
+  }
+  updateRateParam = msg->data;
+  controlLoopTime = 1.0/updateRateParam;
+  return;
 }
 
-// bool add(beginner_tutorials::AddTwoInts::Request &req, beginner_tutorials::AddTwoInts::Response &res)
+
 bool overwatchFunction(dji_osdk_ros::Overwatch::Request &req, dji_osdk_ros::Overwatch::Response &res)
 {
 
@@ -916,15 +1039,12 @@ bool overwatchFunction(dji_osdk_ros::Overwatch::Request &req, dji_osdk_ros::Over
       takeoff();
       break;
     }
-    // case 7:
-    // {
-    //   ROS_INFO("received overwatch: calibrate pos ref");
-    //
-    //   std::vector<float> requestedPosition = {0.5, 0.0, 0.0};
-    //   std::vector<float> actualPosition = DoCalibrationMove(requestedPosition);
-    //   calibratePositionReference(requestedPosition, actualPosition);
-    //   break;
-    // }
+    case 7:
+    {
+      ROS_INFO("received overwatch: calibrate pos ref");
+      calibratePositionReference();
+      break;
+    }
     default:
       break;
   }
@@ -939,13 +1059,14 @@ int main(int argc, char** argv)
   ros::init(argc, argv, "mission_node");
   ros::NodeHandle nh;
 
-  ros::param::get("base_speed", baseSpeedParam);
-  ros::param::get("min_speed", minSpeedParam);
+  ros::param::get("base_speed", waypointSpeedParam);
   ros::param::get("max_speed", maxSpeedParam);
   ros::param::get("max_yaw_speed", maxYawSpeedParam);
+  ros::param::get("angle_offset", angleOffsetParam);
   ros::param::get("speed_scalar", speedScalarParam);
   ros::param::get("drone_id", droneId);
-  ros::param::get("position_playback", positionPlaybackParam);
+  ros::param::get("mission_type", missionTypeParam);
+  ros::param::get("position_threshold", positionThresholdParam);
   ros::param::get("loop_rate", updateRateParam);
   controlLoopTime = 1.0/updateRateParam;
   // additions
@@ -960,29 +1081,38 @@ int main(int argc, char** argv)
   {
     calibrationWindowValues.push_back(0.0);
   }
-  // kp = (18.0*frequency*frequency)/2.0;
-  // kd = (9.0/2.0)*frequency*damping;
 
-  previousWallTime = ros::WallTime::now();
+  // set puredata position to zero zero so it doesn't immediately fly away
+  pd_pos.translation.x = 0.0;
+  pd_pos.translation.y = 0.0;
+  pd_pos.translation.z = 1.5;
+  pd_pos.rotation.x = 0.0;
 
   // ROS stuff
   // obtain control authority?
   obtain_ctrl_authority_client = nh.serviceClient<dji_osdk_ros::ObtainControlAuthority>(
     "obtain_release_control_authority");
-
   waypoint_upload_client = nh.serviceClient<dji_osdk_ros::MissionWpUpload>(
     "dji_osdk_ros/mission_waypoint_upload");
-
   waypoint_action_client = nh.serviceClient<dji_osdk_ros::MissionWpAction>(
     "dji_osdk_ros/mission_waypoint_action");
-
   flight_control_client = nh.serviceClient<dji_osdk_ros::FlightTaskControl>(
     "flight_task_control");
 
-  syncPub = nh.advertise<std_msgs::Float32>("sync_signal", 1);
+  // syncPub = nh.advertise<std_msgs::Float32>("sync_signal", 1);
   gps_pos_subscriber = nh.subscribe<sensor_msgs::NavSatFix>("dji_osdk_ros/gps_position", 1, &gpsPosCallback);
   pos_feedback_subscriber = nh.subscribe<geometry_msgs::Transform>("feedback", 1, &posFeedbackCallback);
   pos_tracking_subscriber = nh.subscribe<geometry_msgs::Transform>("tracking", 1, &posTrackingCallback);
+  pd_position_subscriber = nh.subscribe<geometry_msgs::Transform>("pd/target", 1, &pdPositionCallback);
+
+  // pd_parameter_MinSpeed_subscriber = nh.subscribe<std_msgs::Float32>("pd/parameters/minSpeed", 1, &pdMinSpeedCallback);
+  pd_parameter_MaxSpeed_subscriber = nh.subscribe<std_msgs::Float32>("pd/parameters/maxSpeed", 1, &pdMaxSpeedCallback);
+  pd_parameter_MaxYawSpeed_subscriber = nh.subscribe<std_msgs::Float32>("pd/parameters/maxYawSpeed", 1, &pdMaxYawSpeedCallback);
+  pd_parameter_SpeedScale_subscriber = nh.subscribe<std_msgs::Float32>("pd/parameters/speedScale", 1, &pdSpeedScaleCallback);
+  pd_parameter_UpdateRate_subscriber = nh.subscribe<std_msgs::Float32>("pd/parameters/updateRate", 1, &pdUpdateRateCallback);
+  pd_parameter_AngleOffset_subscriber = nh.subscribe<std_msgs::Float32>("pd/parameters/angleOffset", 1, &pdAngleOffsetCallback);
+  pd_parameter_Damping_subscriber = nh.subscribe<std_msgs::Float32>("pd/parameters/controllerDamping", 1, &pdDampingCallback);
+  pd_parameter_Frequency_subscriber = nh.subscribe<std_msgs::Float32>("pd/parameters/controllerFrequency", 1, &pdFrequencyCallback);
 
   ros::ServiceServer overwatchService = nh.advertiseService("overwatch", overwatchFunction);
 

misson_controller/CMakeLists.txt

+cmake_minimum_required(VERSION 3.0.2)
+project(misson_controller)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  roscpp
+  rospy
+  sensor_msgs
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   geometry_msgs#   sensor_msgs#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES misson_controller
+#  CATKIN_DEPENDS geometry_msgs roscpp rospy sensor_msgs std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/misson_controller.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/misson_controller_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_misson_controller.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

misson_controller/package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>misson_controller</name>
+  <version>0.0.0</version>
+  <description>The misson_controller package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="hlarkin3@vt.edu">larkin</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/misson_controller</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

puredata/CMakeLists.txt

+cmake_minimum_required(VERSION 3.0.2)
+project(puredata)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  geometry_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES puredata
+  CATKIN_DEPENDS roscpp rospy std_msgs geometry_msgs
+  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/puredata.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/puredata_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_puredata.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

puredata/package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>puredata</name>
+  <version>0.0.0</version>
+  <description>The puredata package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="hlarkin3@vt.edu">larkin</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/puredata</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

puredata/patches/drone-osc.pd

+#N canvas 0 96 1013 984 10;
+#X obj 54 73 netreceive -u -b;
+#X obj 55 98 oscparse;
+#X obj 210 23 loadbang;
+#X obj 210 56 del 100;
+#X obj 55 123 route list;
+#X obj 55 159 route sound;
+#X obj 121 461 dac~ 1 2;
+#X msg 42 279 start;
+#X obj 55 211 select 1 0;
+#X obj 54 252 t b b;
+#X msg 110 273 stop;
+#X obj 55 185 route one;
+#X obj 121 428 *~;
+#X obj 170 427 *~;
+#X obj 227 154 route master;
+#X obj 215 264 line~;
+#X msg 227 182 \$1 100;
+#X msg 210 83 \; pd dsp 1;
+#X obj 16 202 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144 -1
+-1;
+#X obj 187 21 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144 -1
+-1;
+#X obj 95 356 readsf~ 2;
+#X obj 175 392 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144
+-1 -1;
+#X obj 132 160 print oscin;
+#X obj 343 387 readsf~ 2;
+#X obj 345 429 dac~;
+#X obj 317 277 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144
+-1 -1;
+#X msg 305 356 start;
+#X msg 358 362 stop;
+#X obj 304 337 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144
+-1 -1;
+#X obj 355 342 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144
+-1 -1;
+#X msg 54 49 listen 3722;
+#X text 305 261 random testing stuff;
+#X floatatom 280 182 5 0 0 0 - - -;
+#X obj 53 6 loadbang;
+#X text 34 334 need to pick different sounds here;
+#X msg 340 305 open ./crushedPiano.wav;
+#X obj 54 26 del 500;
+#X msg 91 309 open ~/offlinePayload1/payload2-full.aif;
+#X connect 0 0 1 0;
+#X connect 1 0 4 0;
+#X connect 2 0 3 0;
+#X connect 3 0 17 0;
+#X connect 4 0 5 0;
+#X connect 4 0 14 0;
+#X connect 4 0 22 0;
+#X connect 5 0 11 0;
+#X connect 7 0 20 0;
+#X connect 8 0 9 0;
+#X connect 8 1 10 0;
+#X connect 9 0 7 0;
+#X connect 9 1 37 0;
+#X connect 10 0 20 0;
+#X connect 11 0 8 0;
+#X connect 12 0 6 0;
+#X connect 13 0 6 1;
+#X connect 14 0 16 0;
+#X connect 14 0 32 0;
+#X connect 15 0 12 1;
+#X connect 15 0 13 1;
+#X connect 16 0 15 0;
+#X connect 18 0 9 0;
+#X connect 19 0 3 0;
+#X connect 20 0 12 0;
+#X connect 20 1 13 0;
+#X connect 20 2 21 0;
+#X connect 23 0 24 0;
+#X connect 23 1 24 1;
+#X connect 25 0 35 0;
+#X connect 26 0 23 0;
+#X connect 27 0 23 0;
+#X connect 28 0 26 0;
+#X connect 29 0 27 0;
+#X connect 30 0 0 0;
+#X connect 33 0 36 0;
+#X connect 35 0 23 0;
+#X connect 36 0 30 0;
+#X connect 37 0 20 0;

puredata/scripts/puredataLaunch.bash

+#!/bin/bash
+
+# need to figure out what these audio numbers should be!!
+puredata -r 48000 -nogui -audiooutdev 5 -audioindev 5 ../patches/drone-osc.pd

puredata/scripts/puredataPublisher.py

+#! /usr/bin/python3
+import rospy
+import sys
+# from osc4py3.as_eventloop import *
+# from osc4py3.as_allthreads import *
+from osc4py3.as_comthreads import *
+from osc4py3 import oscmethod as osm
+from geometry_msgs.msg import Transform
+from std_msgs.msg import Float32
+import netifaces as ni
+
+# blah blah blah
+# AHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH
+
+class OSCTranslator():
+    def __init__(self):
+        self.positionPub = rospy.Publisher('pd/target', Transform, queue_size = 1)
+
+        self.paramMaxSpeedPub = rospy.Publisher('pd/parameters/maxSpeed', Float32, queue_size = 1)
+        self.paramMaxYawSpeedPub = rospy.Publisher('pd/parameters/maxYawSpeed', Float32, queue_size = 1)
+        self.paramSpeedScalePub = rospy.Publisher('pd/parameters/speedScale', Float32, queue_size = 1)
+        self.paramUpdateRatePub = rospy.Publisher('pd/parameters/updateRate', Float32, queue_size = 1)
+        self.paramDampingPub = rospy.Publisher('pd/parameters/damping', Float32, queue_size = 1)
+        self.paramFrequencyPub = rospy.Publisher('pd/parameters/frequency', Float32, queue_size = 1)
+        self.paramAngleOffsetPub = rospy.Publisher('pd/parameters/angleOffset', Float32, queue_size = 1)
+
+        rospy.init_node('puredata_publisher')
+        self.rate = rospy.Rate(100)
+        self.target = Transform()
+        rospy.loginfo("starting osc server")
+
+        # Make server channels to receive packets.
+        # get wifi interfaces ip
+
+        # dont listen on the wireless when wanting it through the ethernet~
+        # osc_udp_server(ni.ifaddresses('wlan0')[ni.AF_INET][0]['addr'], 3721, "aservername")
+        osc_udp_server(ni.ifaddresses('eth0')[ni.AF_INET][0]['addr'], 3721, "aservername")
+        osc_method("/position", self.handlerfunctionflex, argscheme=osm.OSCARG_ADDRESS + osm.OSCARG_DATAUNPACK)
+        osc_method("/parameters", self.handlerfunctionflex, argscheme=osm.OSCARG_ADDRESS + osm.OSCARG_DATAUNPACK)
+        osc_method("/sound/one", self.handlerfunctionflex, argscheme=osm.OSCARG_ADDRESS + osm.OSCARG_DATAUNPACK)
+        osc_method("/master", self.handlerfunctionflex, argscheme=osm.OSCARG_ADDRESS + osm.OSCARG_DATAUNPACK)
+
+    def handlerfunctionflex(self, address, *args):
+        # Will receive message data unpacked in s, x, y
+        rospy.loginfo("from: " + address + ": " + str(args))
+        if (address == "/position"):
+            # rospy.loginfo("publishing position...")
+            self.target.translation.x = args[0]
+            self.target.translation.y = args[1]
+            self.target.translation.z = args[2]
+            self.target.rotation.x = args[3]
+            self.positionPub.publish(self.target)
+
+        elif (address == "/parameters/maxSpeed"):
+            # rospy.loginfo("new maxSpeed param: " + str(args[0]))
+            self.paramMaxSpeedPub.publish(args[0])
+        elif (address == "/parameters/maxYawSpeed"):
+            # rospy.loginfo("new maxYawSpeed param: " + str(args[0]))
+            self.paramMaxYawSpeedSpeedPub.publish(args[0])
+        elif (address == "/parameters/speedScale"):
+            # rospy.loginfo("new speedScale param: " + str(args[0]))
+            self.paramSpeedScalePub.publish(args[0])
+        elif (address == "/parameters/updateRate"):
+            # rospy.loginfo("new updateRate param: " + str(args[0]))
+            self.paramUpdateRatePub.publish(args[0])
+        elif (address == "/parameters/damping"):
+            # rospy.loginfo("new damping param: " + str(args[0]))
+            self.paramDampingPub.publish(args[0])
+        elif (address == "/parameters/frequency"):
+            # rospy.loginfo("new frequency param: " + str(args[0]))
+            self.paramFrequencyPub.publish(args[0])
+        elif (address == "/parameters/angleOffset"):
+            # rospy.loginfo("new angleOffset param: " + str(args[0]))
+            self.paramAngleOffsetPub.publish(args[0])
+
+
+        elif (address == "/sound/one"):
+            rospy.loginfo("publishing sound...")
+        elif (address == "/master"):
+            rospy.loginfo("publishing master vol...")
+            # pure data will handle sounds..?
+        pass
+
+if __name__ == "__main__":
+    osc_startup()
+    oscer = OSCTranslator()
+    rospy.loginfo("starting osc process loop")
+    while not rospy.is_shutdown():
+        # rospy.loginfo("processing osc msgs...")
+        osc_process()
+        oscer.rate.sleep()
+    # rospy.spin()
+    osc_terminate()