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))

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()