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Lady3.cpp
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#include <ros/ros.h>
#include <cstdlib>
#include "math.h"
#include <geometry_msgs/PoseStamped.h>
#include <sensor_msgs/NavSatFix.h>
#include <mavros_msgs/CommandTOL.h>
#include <mavros_msgs/WaypointPush.h>
#include <mavros_msgs/WaypointClear.h>
#include <mavros_msgs/CommandHome.h>
#include <mavros_msgs/SetMode.h>
#include <mavros_msgs/CommandCode.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/State.h>
#include <std_msgs/String.h>
#include <std_msgs/Int8.h>
long double lat1=(25.2593945); long double long1=(82.9880905); // 1 2 W
long double lat2=(25.2597385); long double long2=(82.9879240); // |
long double lat3=(25.2595144); long double long3=(82.9884665); // 3 4 |
long double lat4=(25.2598519); long double long4=(82.9883528); // |
//////////THIRD drone S <-------------------> N
int m=4; // |
long double dflatmu=(lat1-lat2)/m; long double dflongmu=(long1-long2)/m; // |
long double dflatmd=(lat3-lat4)/m; long double dflongmd=(long3-long4)/m; // |
long double d3lat1= lat1-(2*(dflatmu)); long double d3long1= long1-(2*(dflongmu)); // 1 2 E
long double d3lat2= (d3lat1-dflatmu); long double d3long2= (d3long2-dflongmu);
long double d3lat3= lat3-(2*(dflatmd)); long double d3long3= long3-(2*(dflongmd)); // 3 4
long double d3lat4= (d3lat3-dflatmd); long double d3long4= (d3long3-dflongmd);
//////////////no of times /////////////////////////
int n=5;
long double dflatnu=dflatmu/n; long double dflongnu=dflongmu/n; // 1 2 3 4 5
long double dflatnd=dflatmd/n; long double dflongnd=dflongmd/n;
long double d3plat1=(d3lat1); long double d3plong1= (d3long1);
long double d3plat2=(d3plat1-dflatnu); long double d3plong2= (d3plong1-dflongnu);
long double d3plat3=(d3plat2-dflatnu); long double d3plong3= (d3plong2-dflongnu);
long double d3plat4=(d3plat3-dflatnu); long double d3plong4= (d3plong3-dflongnu);
long double d3plat5=(d3plat4-dflatnu); long double d3plong5= (d3plong4-dflongnu);
long double d3plat6=(d3lat3); long double d3plong6= (d3long3); // 6 7 8 9 10
long double d3plat7=(d3plat6-dflatnd); long double d3plong7= (d3plong6-dflongnd);
long double d3plat8=(d3plat7-dflatnd); long double d3plong8= (d3plong7-dflongnd);
long double d3plat9=(d3plat8-dflatnd); long double d3plong9= (d3plong8-dflongnd);
long double d3plat10=(d3plat9-dflatnd); long double d3plong10= (d3plong9-dflongnd);
///// final cordinates ///////////////////////////////////////////////
long double p13lat1=((d3plat6+d3plat7)/2); long double p13long1=((d3plong6+d3plong7)/2);
long double p13lat2=((d3plat1+d3plat2)/2); long double p13long2=((d3plong1+d3plong2)/2);
long double p13lat3=((d3plat2+d3plat3)/2); long double p13long3=((d3plong2+d3plong3)/2);
long double p13lat4=((d3plat7+d3plat8)/2); long double p13long4=((d3plong7+d3plong8)/2);
long double p13lat5=((d3plat8+d3plat9)/2); long double p13long5=((d3plong8+d3plong9)/2);
long double p13lat6=((d3plat3+d3plat4)/2); long double p13long6=((d3plong3+d3plong4)/2);
long double p13lat7=((d3plat4+d3plat5)/2); long double p13long7=((d3plong4+d3plong5)/2);
long double p13lat8=((d3plat9+d3plat10)/2); long double p13long8=((d3plong9+d3plong10)/2);
sensor_msgs::NavSatFix global_pose_2;
void global_pose_cb_2(const sensor_msgs::NavSatFixConstPtr& msg0){global_pose_2 = *msg0;}//ROS_INFO("got global position [%d]: %f, %f, %f", global_pose.header.seq, global_pose.latitude, global_pose.longitude, global_pose.altitude);}
mavros_msgs::State current_state_2;
void state_cb_2(const mavros_msgs::State::ConstPtr& msg1){current_state_2 = *msg1;}//ROS_INFO("got status: %d, %d", (int)msg->armed, (int)msg->connected);}
std_msgs::Int8 Boxstatus2;
void state_box2(const std_msgs::Int8::ConstPtr& msg2){Boxstatus2 = *msg2;ROS_INFO("I heard: [%d]", Boxstatus2);}
int main(int argc, char **argv)
{
int rate_hz = 10;
ros::init(argc, argv, "uav1");
ros::NodeHandle n_2;
ros::NodeHandle& nh_2 = n_2;
ros::Rate rate(rate_hz);
ros::Subscriber s_box2 = n_2.subscribe<std_msgs::Int8>("/opencv3", 10, state_box2);
ros::Subscriber state_sub_2 = nh_2.subscribe<mavros_msgs::State>("uav2/mavros/state", 10, state_cb_2);
ros::Publisher local_pos_pub_2 = nh_2.advertise<geometry_msgs::PoseStamped>("uav2/mavros/setpoint_position/local", 10);
ros::ServiceClient arming_client_2 = nh_2.serviceClient<mavros_msgs::CommandBool>("uav2/mavros/cmd/arming");
ros::ServiceClient set_mode_client_2 = nh_2.serviceClient<mavros_msgs::SetMode>("uav2/mavros/set_mode", 1);
ros::Subscriber global_pose_sub_2 = nh_2.subscribe<sensor_msgs::NavSatFix>("uav2/mavros/global_position/global", 1, global_pose_cb_2);
ros::ServiceClient arming_cl_2 = n_2.serviceClient<mavros_msgs::CommandBool>("uav2/mavros/cmd/arming");
ros::ServiceClient wp_clear_client_2 = n_2.serviceClient<mavros_msgs::WaypointClear>("uav2/mavros/mission/clear");
ros::ServiceClient client_wp_2 = n_2.serviceClient<mavros_msgs::WaypointPush>("uav2/mavros/mission/push");
ros::ServiceClient cl_2 = n_2.serviceClient<mavros_msgs::SetMode>("uav2/mavros/set_mode");
global_pose_2.header.seq = 0;
while(ros::ok() && (!current_state_2.connected || global_pose_2.header.seq == 0)) {ros::spinOnce(); rate.sleep(); }
// ROS_INFO("got global position [%d]: %f, %f, %f", global_pose.header.seq, global_pose.latitude, global_pose.longitude, global_pose.altitude);
/////////////////////////////////////////////////////////
mavros_msgs::CommandBool srv_2; srv_2.request.value = true;
if(arming_cl_2.call(srv_2)){ ROS_INFO("ARM send ok %d", srv_2.response.success);}else{ROS_ERROR("Failed arming or disarming");}
//////////CLEAR MISSION /////////////////////////////////
mavros_msgs::WaypointClear wp_clear_srv_2;
if (wp_clear_client_2.call(wp_clear_srv_2)){ ROS_INFO("Waypoint list was cleared"); } else{ROS_ERROR("Waypoint list couldn't been cleared");}
///////// MISSION//////////////////////////////////////////////////////
mavros_msgs::WaypointPush srv_wp_2; srv_wp_2.request.start_index = 0; mavros_msgs::CommandHome set_home_srv_2; mavros_msgs::Waypoint wp_2;
double cur_pose_2_lat = global_pose_2.latitude;
double cur_pose_2_long = global_pose_2.longitude;
// fill wp
wp_2.frame = mavros_msgs::Waypoint::FRAME_GLOBAL_REL_ALT;
wp_2.command = mavros_msgs::CommandCode::NAV_TAKEOFF;
wp_2.is_current = true;
wp_2.autocontinue = true;
wp_2.param1 = 1;
wp_2.z_alt = 5;
wp_2.x_lat = global_pose_2.latitude;
wp_2.y_long = global_pose_2.longitude;
srv_wp_2.request.waypoints.push_back(wp_2);
wp_2.command = mavros_msgs::CommandCode::NAV_WAYPOINT;
wp_2.is_current = false;
wp_2.autocontinue = true;
wp_2.param1 = 1; // hold time sec
wp_2.z_alt = 4.5;
wp_2.x_lat = p13lat1; //1
wp_2.y_long = p13long1;
srv_wp_2.request.waypoints.push_back(wp_2);
wp_2.x_lat = p13lat2; //2
wp_2.y_long = p13long2;
srv_wp_2.request.waypoints.push_back(wp_2);
wp_2.x_lat = p13lat3; //3
wp_2.y_long = p13long3;
srv_wp_2.request.waypoints.push_back(wp_2);
wp_2.x_lat = p13lat4; //4
wp_2.y_long = p13long4;
srv_wp_2.request.waypoints.push_back(wp_2);
wp_2.x_lat = p13lat5; //5
wp_2.y_long = p13long5;
srv_wp_2.request.waypoints.push_back(wp_2);
wp_2.x_lat = p13lat6; //6
wp_2.y_long = p13long6;
srv_wp_2.request.waypoints.push_back(wp_2);
wp_2.x_lat = p13lat7; //7
wp_2.y_long = p13long7;
srv_wp_2.request.waypoints.push_back(wp_2);
wp_2.x_lat = p13lat8; //8
wp_2.y_long = p13long8;
srv_wp_2.request.waypoints.push_back(wp_2);
wp_2.command = mavros_msgs::CommandCode::NAV_LAND;
wp_2.z_alt = 0;
wp_2.x_lat =cur_pose_2_lat ;
wp_2.y_long = cur_pose_2_long;
srv_wp_2.request.waypoints.push_back(wp_2);
if (client_wp_2.call(srv_wp_2)){ROS_INFO("Uploaded WPs!");mavros_msgs::State current_state_2;}else{ROS_ERROR("Upload Failed");}
////////////////////////AUTO MISSION MODE ///////////////////////////////////
mavros_msgs::SetMode srv_setMode_2;srv_setMode_2.request.base_mode = 0; //(uint8_t)mavros_msgs::SetModeRequest::MAV_MODE_AUTO_ARMED;
srv_setMode_2.request.custom_mode = "AUTO.MISSION";
if(cl_2.call(srv_setMode_2)){ROS_INFO("setmode send ok %d value:", srv_setMode_2.response.mode_sent);}else{ROS_ERROR("Failed SetMode");return -1;}
/////////////////////////WAIT TILL DISARM ////////////////////////////////////
current_state_2.armed = true;
while(ros::ok() && current_state_2.armed ){
ros::spinOnce();rate.sleep();
if(Boxstatus2.data ==1){
ROS_INFO("BOXdetected [%d]: %f, %f, %f", global_pose_2.header.seq, global_pose_2.latitude, global_pose_2.longitude);
ROS_INFO("RTL");
mavros_msgs::SetMode srv_setMode_2;
srv_setMode_2.request.base_mode = 0;
srv_setMode_2.request.custom_mode = "AUTO.RTL";
if(cl_2.call(srv_setMode_2)){ROS_INFO("setmode send ok %d value:", srv_setMode_2.response.mode_sent);}
else{ROS_ERROR("Failed SetMode");return -1;}
break;}}
ROS_INFO("Drone disarmed");
return 0;
}