Video demonstration

Some precision about the way it was released

.travis.yml

@@ -0,0 +1,39 @@
+language:
+  - cpp
+python:
+  - "2.7"
+compiler:
+  - gcc
+env:
+  - ros_distro=hydro
+  # - ros_distro=indigo
+before_install:
+  - export CI_SOURCE_PATH="`pwd`"
+  - export ROS_DISTRO=$ros_distro
+  - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
+  - sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116
+  - sudo apt-get update -qq
+  - sudo apt-get install -qq -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential python-catkin-pkg
+  - sudo rosdep init
+  - rosdep update
+  - sudo apt-get install ros-${ROS_DISTRO}-ros-base
+  - sudo pip install cpplint
+install: # Use this to install any prerequisites or dependencies necessary to run your build
+  - source /opt/ros/${ROS_DISTRO}/setup.bash
+  - mkdir -p ~/hand_control_ws/src
+  - cd ~/hand_control_ws/src
+  - catkin_init_workspace
+  # - curl -L 'https://github.com/AutonomyLab/ardrone_autonomy/archive/master.tar.gz' | tar -xz
+  # - curl -L 'https://github.com/ros-drivers/rgbd_launch/archive/2.1.0.tar.gz' | tar -xz
+  # - curl -L 'https://github.com/ros-drivers/freenect_stack/archive/master.tar.gz' | tar -xz
+  - ln -s "$CI_SOURCE_PATH" .
+  - cd ..
+  - sudo rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
+before_script: # Use this to prepare your build for testing e.g. copy database configurations, environment variables, etc.
+  - source /opt/ros/${ROS_DISTRO}/setup.bash
+  - cd ~/hand_control_ws
+  - cd src
+  - cpplint *.hpp *.cpp *.h
+  - cd ..
+script: # All commands must exit with code 0 on success. Anything else is considered failure.
+  - catkin_make -j2

AUTHORS

@@ -0,0 +1,5 @@
+Original Authors
+----------------
+Luc ABSIL <luc.absil@supelec.fr>
+Louis-Guillaume DUBOIS <contact@lgdubois.fr>
+Paul JANIN <paul.janin@supelec.fr>

CMakeLists.txt

@@ -1,3 +1,20 @@
+# Copyright © 2015 CentraleSupélec
+# 
+# This file is part of Hand Control.
+# 
+# Hand Control is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+# 
+# Hand Control is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+# 
+# You should have received a copy of the GNU General Public License
+# along with Hand Control.  If not, see <http://www.gnu.org/licenses/>.
+
 cmake_minimum_required(VERSION 2.8.3)
 project(hand_control)
 
@@ -38,12 +55,6 @@ pkg_check_modules ( ncursesw REQUIRED ncursesw)
   add_executable(filter src/filter.cpp)
 target_link_libraries(filter ${catkin_LIBRARIES})
 
-  add_executable(random_pcl_publisher src/random_pcl_publisher.cpp)
-target_link_libraries(random_pcl_publisher ${catkin_LIBRARIES})
-
-  add_executable(pcl_displayer src/pcl_displayer.cpp)
-target_link_libraries(pcl_displayer ${catkin_LIBRARIES})
-
 add_library(display src/display.cpp)
 
   add_executable(keyboard_cmd src/keyboard_cmd.cpp)
@@ -53,10 +64,6 @@ target_link_libraries(keyboard_cmd display ${catkin_LIBRARIES} ${ncursesw_LIBRAR
 target_link_libraries(estimator ${catkin_LIBRARIES})
 add_dependencies(estimator hand_control_generate_messages_cpp)
 
-  add_executable(commander_atan src/commander_atan.cpp)
-target_link_libraries(commander_atan ${catkin_LIBRARIES})
-add_dependencies(commander_atan hand_control_generate_messages_cpp)
-
   add_executable(commander src/commander.cpp)
 target_link_libraries(commander ${catkin_LIBRARIES})
 add_dependencies(commander hand_control_generate_messages_cpp)
@@ -66,13 +73,11 @@ generate_dynamic_reconfigure_options(
   cfg/Filter.cfg
   cfg/Commander.cfg
   cfg/Estimator.cfg
-  cfg/Commander_atan.cfg
   )
 
 add_dependencies(filter ${PROJECT_NAME}_gencfg)
 add_dependencies(commander ${PROJECT_NAME}_gencfg)
 add_dependencies(estimator ${PROJECT_NAME}_gencfg)
-add_dependencies(commander_atan ${PROJECT_NAME}_gencfg)
 
   catkin_package(
                  CATKIN_DEPENDS message_runtime

COPYING

@@ -0,0 +1,18 @@
+Hand Control -- "hand_control" ROS package
+
+Controling a "Parrot AR Drone" with the hand movements measured by a Microsoft Kinect sensor.
+
+Copyright © 2015 CentraleSupélec
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.

LICENSES/FDL.txt

@@ -0,0 +1,451 @@
+
+                GNU Free Documentation License
+                 Version 1.3, 3 November 2008
+
+
+ Copyright (C) 2000, 2001, 2002, 2007, 2008 Free Software Foundation, Inc.
+     <http://fsf.org/>
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+
+0. PREAMBLE
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LICENSES/GPL.txt

@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
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+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    <program>  Copyright (C) <year>  <name of author>
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.

LISEZMOI.md

@@ -0,0 +1,158 @@
+Copyright © 2015 CentraleSupélec
+
+Permission is granted to copy, distribute and/or modify this document
+under the terms of the GNU Free Documentation License, Version 1.3
+or any later version published by the Free Software Foundation;
+with no Invariant Sections, no Front-Cover Texts, and no Back-Cover Texts.
+
+
+An english version of this file is available (README.md)
+
+Une version anglaise de ce fichier est disponible (README.md)
+
+# Vidéo de démonstration #
+
+[à cette addresse](https://archive.org/details/hand_control)
+
+# Installation #
+
+## Installation des dépendances ##
+```
+#!sh
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
+wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
+sudo apt-get update
+sudo apt-get install ros-indigo-desktop-full ros-indigo-freenect-stack ros-indigo-ardrone-autonomy libncursesw5-dev
+```
+## Installation du paquet ##
+
+### Création d’un espace de travail catkin ###
+
+Par exemple :
+
+```
+#!sh
+source /opt/ros/indigo/setup.bash
+mkdir -p ~/hand_control_ws/src
+cd ~/hand_control_ws/src
+catkin_init_workspace
+```
+
+### Déplacement du code ###
+
+Renommer si besoin est le dossier qui contient ce fichier en `hand_control`, et le déplacer dans `~/hand_control_ws/src/`, ou dans le sous-dossier `src` de votre espace de travail catkin.
+
+## Compilation ##
+
+Il est ensuite possible de compiler :
+
+```
+#!sh
+cd ~/hand_control_ws # ou votre espace de travail catkin
+catkin_make
+```
+
+Puis pour pouvoir utiliser les commandes ROS, en remplaçant si besoin "hand_control_ws" par votre espace de travail catkin :
+
+```
+#!sh
+source /opt/ros/indigo/setup.bash
+source ~/hand_control_ws/devel/setup.bash
+echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
+echo "source ~/hand_control_ws/devel/setup.bash" >> ~/.bashrc
+```
+
+# Utilisation #
+
+## Branchement de la Kinect et paramétrage ##
+
+1. Brancher la Kinect (sous tension) à l’ordinateur par USB ;
+2. Poser la Kinect sur le sol, pointant le plafond, votre bras devra être perpendiculaire à la Kinect pour pouvoir bien piloter le drone ;
+2. Lancer le "launchfile" kinect_commander.launch : `roslaunch hand_control kinect_commander.launch` ;
+3. Vérifier les paramètres du filtre :
+    - lancer rviz :  `rosrun rqt_rviz rqt_rviz`
+    - visualiser la sortie du filtrage (topic : `/filter/output` ; frame : `/camera_depth_optical_frame`) et repérer la main ;
+    - lancer rqt_reconfigure : `rosrun rqt_reconfigure rqt_reconfigure` pour :
+      - modifier les paramètres du filtre jusqu’à ne voir que les points de la main/gant/pancarte sur rviz (voir ci-dessous).
+      - modifier le paramètre `neutral_alt` du nœud `commander` à la hauteur souhaitée (en mètres). C’est la hauteur de la main qui correspondra à l’immobilité de l’altitude.
+    
+### Paramètres du filtre ###
+
+Les paramètres du filtre (modifiables avec `dynamic_reconfigure` et en particulier `rqt_reconfigure`) sont :
+
+* `z_max` : en mètres, altitude maximale de la main, doit être inférieure à la hauteur du plafond.
+* pour un gant ou un carton *coloré* (vert, bleu etc.), on a généralement :
+    - `hue` : par exemple 220 (bleu ciel) ou 150 (vert) ou 0 (rose/rouge) ;
+    - `delta_hue` : entre 10 et 20 ;
+    - `sat/val_min` : 0.0 ;
+    - `sat/val_max` : 1.0 ;
+* pour un gant *noir* :
+    - `hue` : 0 ;
+    - `delta_hue` : 180 ;
+    - `sat_min` : 0.0 ;
+    - `sat_max` : 1.0 ;
+    - `val_min` : 0.0 ;
+    - `val_max` : 0.3 (à modifier à votre convenance);
+
+### Autres paramètres ###
+
+Toujours avec `rqt_reconfigure`, cette fois pour le nœud `estimator` :
+- `reverse` : échange x et y (axes de la Kinect) (valeur par défaut pour une utilisation normale : faux [décoché])
+- `reverse_angle` : modifie l’axe choisi pour calculer l’angle de la main (valeur par défaut pour un utilisation normale : faux [décoché])
+
+## Connexion au drone et pilotage ##
+
+* Connecter l’ordinateur au réseau wifi du drone ;
+* Lancer le "launchfile" ardrone.launch : `roslaunch hand_control ardrone.launch` ;
+* Pour décoller : 
+    - soit `rostopic pub /ardrone/takeoff std_msgs/Empty` ;
+    - soit lancer le nœud keyboard_cmd : `rosrun hand_control keyboard_cmd` et utiliser la touche *t* du clavier.
+* Pour atterrir :
+    - soit `rostopic pub /ardrone/land std_msgs/Empty` ;
+    - soit, avec keyboard_cmd, utiliser la touche *b* du clavier.
+* Arrêt d’urgence :
+    - soit `rostopic pub /ardrone/reset std_msgs/Empty` ;
+    - soit, avec keyboard_cmd, utiliser la touche *g* du clavier.
+
+### Commande à la main ###
+
+* Avancer/reculer & translations latérales : inclinaison de la main ;
+* Tourner (rotation autours de l’axe z) : angle de l’axe de la main avec l’axe parallèle au sol et perpendiculaire à la Kinect ;
+* Monter/descendre : altitude de la main.
+
+### Options et paramètres de la commande ###
+
+Pour éditer les options de la commande, lancer si ce n’est déjà fait `rosrun rqt_reconfigure rqt_reconfigure` :
+
+- `max_curvature` : non utilisé pour l’instantt ;
+- `x/y/z/theta_minimal_deviation` : seuils à partir desquels le mouvement de la main est pris en compte. Tout mettre à 0.0 rend le comportement complétement linéaire.
+    * x, y : entre 0. et 1. (il s’agit des composantes x et y de la normale au plan);
+    * z : en mètre ;
+    * theta : en degrés.
+- `neutral_alt` : hauteur de la main qui correspond à l’immobilité de l’altitude du drone ;
+- `min_points_number` : nombre minimal de points (du nuage de points qui a servi à régresser le plan reçu) nécessaire pour qu’une commande soit envoyé au drone.
+- `angle/x/y/z_vel` : coefficients de proportionnalité à appliquer aux données en entrée pour établir la commande envoyée au drone. Les augmenter augmentera la vitesse du drone.
+- `up_fact` : coefficient de proportionnalité à appliquer à la commande augmentant l’altitude du drone, par rapport à la commande équivalente la diminuant (pour corriger l’effet de la gravité).
+
+### Notes sur `keyboard_cmd` ###
+
+Il permet de publier des commandes sur le topic `cmd_vel` et ainsi de piloter le drone. Il est prévu pour les claviers azerty. Pour le lancer :
+
+```
+#!sh
+rosrun hand_control keyboard_cmd
+```
+
+Pour augmenter/diminuer les vitesses (expliqué sur l’affichage du programme) : touches a,z,e,r et w,x,c,v
+
+L’affichage des informations reçues du drone n’est mise à jour qu’à l’occasion de l’appui sur une touche. 
+
+Pour quitter : Ctr+C, et appui sur "Entrée" pour retrouver l’affichage de la console.
+
+# Problème(s) rencontré(s) — Améliorations souhaitables #
+
+- Si des commandes sont publiées sur `cmd_vel` (depuis la Kinect par exemple) après le lancement du fichier `ardrone.launch` et avant le décollage du drone, alors, après le décollage, de drone semble obéir aux commandes publiées avant le décollage.
+
+- Comme écrit plus haut, l’affichage des informations reçues du drone sur `keyboard_cmd` n’est mise à jour qu’à l’occasion de l’appui sur une touche, et peut donc rester fixe quand on n’utilise pas la commande au clavier.
+
+- Le décollage/atterrissage n’est pas possible à commander avec la main. Il faut utiliser le clavier (`keyboard_cmd` ou `rostopic pub`) à la place. Il est possible de de remédier à cela en créant deux nouveaux seuils, minimaux et maximaux, pour la hauteur de la main : une main très basse ferait atterrir le drone, une main très haute le ferait décoller.

README.md

@@ -1,58 +1,162 @@
-# Contrôle par geste d'un drone #
-
-**Extrait de la présentation du projet**
-
-« On s'intéresse dans ce projet à contrôler un drone à l'aide la main. On utilisera pour ce faire une kinect, placée à l'horizontal, au dessus de laquelle on placera la main du contrôleur. La kinect fournit des informations sur la profondeur des objets placés en face d'elle. On peut alors régresser un plan sur les échantillons et utiliser deux inclinaisons et la distance pour contrôler le roulis, le tangage et l'altitude d'un drone. »
-
-## Installation des dépendances ##
-```
-#!sh
-sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
-wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
-sudo apt-get update
-sudo apt-get install ros-indigo-desktop-full ros-indigo-freenect-stack ros-indigo-ardrone-autonomy libncursesw5-dev
-```
-## Utilisation du dépôt ##
-
-Après avoir créé un espace de travail catkin :
-```
-#!sh
-source /opt/ros/indigo/setup.bash
-mkdir -p ~/hand_control_ws/src
-cd ~/hand_control_ws/src
-catkin_init_workspace
-```
-vous devez cloner le dépôt de telle sorte que le dossier «hand_control» se situe dans le dossier «~/hand_control_ws/src/», par exemple :
-
-```
-#!sh
-cd ~/hand_control_ws/src
-git clone git@bitbucket.org:_Luc_/hand_control.git
-# ou bien : git clone https://username@bitbucket.org/_Luc_/hand_control.git # (changer username)
-```
-Le contenu du dépôt se trouve alors dans «~/hand_control_ws/src». Il est ensuite possible de compiler :
-
-```
-#!sh
-cd ~/hand_control_ws
-catkin_make
-```
-
-Puis pour faciliter le développement : 
-```
-#!sh
-source /opt/ros/indigo/setup.bash
-source ~/hand_control_ws/devel/setup.bash
-echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
-echo "source ~/hand_control_ws/devel/setup.bash" >> ~/.bashrc
-
-```
-
-### Important ###
-
-Avant de coder, regarder :
-
-- [les conventions d’écriture du code du projet ROS](http://wiki.ros.org/CppStyleGuide)
-- [le guide du développeur](http://wiki.ros.org/DevelopersGuide)
-
-Cf. le [Wiki](https://bitbucket.org/_Luc_/handcontrol/wiki/Home) pour le reste de la documentation et le résultat des recherches.
+[![Build Status](https://travis-ci.org/LGD-Fr/hand_control.svg)](https://travis-ci.org/LGD-Fr/hand_control)
+
+Copyright © 2015 CentraleSupélec
+
+Permission is granted to copy, distribute and/or modify this document
+under the terms of the GNU Free Documentation License, Version 1.3
+or any later version published by the Free Software Foundation;
+with no Invariant Sections, no Front-Cover Texts, and no Back-Cover Texts.
+
+
+La documentation originale est en français : LISEZMOI.md. La documentation ci-dessous n’est qu’une traduction.
+
+The original manual is the french "LISEZMOI.md", you read below a translation of this file.
+
+# Video demonstration #
+
+A video demonstration is [available here](https://archive.org/details/hand_control). It has been achived with a student who didn't know how the project works.
+
+# Installation #
+
+This package was developped with the Indigo version of ROS.
+
+## Dependencies installation ##
+```
+#!sh
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
+wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
+sudo apt-get update
+sudo apt-get install ros-indigo-desktop-full ros-indigo-freenect-stack ros-indigo-ardrone-autonomy libncursesw5-dev
+```
+## Package installation ##
+
+### Catkin workspace creation ###
+
+For instance :
+
+```
+#!sh
+source /opt/ros/indigo/setup.bash
+mkdir -p ~/hand_control_ws/src
+cd ~/hand_control_ws/src
+catkin_init_workspace
+```
+
+### Code location ###
+
+If necessary, rename the folder with the file named `hand_control`, and move it in `~/hand_control_ws/src/` or in the subfolder `src` of your catkin workspace.
+
+## Compilation ##
+
+You're now able to compile :
+
+```
+#!sh
+cd ~/hand_control_ws # or your catkin workspace
+catkin_make
+```
+
+Then you can run the following commands to be able to use the ROS commands. If necessary replace "hand_control_ws" by the name of your catkin workspace.
+
+```
+#!sh
+source /opt/ros/indigo/setup.bash
+source ~/hand_control_ws/devel/setup.bash
+echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
+echo "source ~/hand_control_ws/devel/setup.bash" >> ~/.bashrc
+```
+
+# Use #
+
+## Connection and setting up of the Kinect ##
+
+1. Connect the Kinect (under voltage) to the computer via USB ;
+2. Put the Kinect on the ground, pointed toward the roof ; be aware that your arm must be perpendicular to the Kinect in order to control the drone properly ;
+2. Launch the "launchfile" kinect_commander.launch : `roslaunch hand_control kinect_commander.launch` ;
+3. Check the drone parameters :
+    - launch rviz :  `rosrun rqt_rviz rqt_rviz`
+    - display the output of the filtering (topic : `/filter/output` ; frame : `/camera_depth_optical_frame`) and locate the hand ;
+    - launch rqt_reconfigure : `rosrun rqt_reconfigure rqt_reconfigure` in order to :
+      - change the filter parameters until you only see the points of the hand/glove/panel on rviz (see above).
+      - change the parameter `neutral_alt` of the node `commander` to the wanted height (in meters), correponding to the height of the hand for which the height of the drone will be stable.
+    
+### Parameters of the filter ###
+
+The parameters of the filter (that can be changed thanks to `dynamic_reconfigure` and in particular `rqt_reconfigure`) are :
+
+* `z_max` : in meters, maximal height of the hand. It must be lower than the height of the roof.
+* for a glove or a *colored* panel (green, blue, etc.), we generaly have :
+    - `hue` : for example 220 (sky blue) or 150 (green) or 0 (pink/red) ;
+    - `delta_hue` : between 10 and 20 ;
+    - `sat/val_min` : 0.0 ;
+    - `sat/val_max` : 1.0 ;
+* for a *black* glove :
+    - `hue` : 0 ;
+    - `delta_hue` : 180 ;
+    - `sat_min` : 0.0 ;
+    - `sat_max` : 1.0 ;
+    - `val_min` : 0.0 ;
+    - `val_max` : 0.3 (at your convenience);
+
+### Other parameters ###
+
+Always with `rqt_reconfigure`, but with the `estimator` node :
+- `reverse` : swap x and y, the axes of the Kinect (default : false, ie. unchecked)
+- `reverse_angle` : change the angle choosen for the compute of the angle of the hand (default : false, ie. unchecked)
+
+## Connection to the drone and steering ##
+
+* Connect the computer to the wifi network of the drone ;
+* Launch the "launchfile" ardrone.launch : `roslaunch hand_control ardrone.launch` ;
+* Taking off : 
+    - whether `rostopic pub /ardrone/takeoff std_msgs/Empty` ;
+    - or launch the node keyboard_cmd : `rosrun hand_control keyboard_cmd` and use *t* on the keyboard.
+* Landing :
+    - whether `rostopic pub /ardrone/land std_msgs/Empty` ;
+    - or, launch the node keyboard_cmd, and use *b* on the keyboard.
+* Emergency stop :
+    - whether `rostopic pub /ardrone/reset std_msgs/Empty` ;
+    - or, launch the node keyboard_cmd, and use *g* on the keyboard.
+
+### Hand steering ###
+
+* Forward/backward & side translations : hand tilt ;
+* Rotate (around the vertical axis z) : angle of the hand with the the axis parallel to the ground and perpendicular to the kinect ;
+* go up/go down : hand height.
+
+### Options and parameters of the command ###
+
+To edit the options of the command, change (if not already) `rosrun rqt_reconfigure rqt_reconfigure` :
+
+- `max_curvature` : not used for the moment ;
+- `x/y/z/theta_minimal_deviation` : thresholds required above which the movement of the hand is not taken into account. If all are 0.0, the drone responds linearly.
+    * x, y : between 0. and 1. (corresponding to the x and y of the normal to the plane);
+    * z : in meters ;
+    * theta : in degrees.
+- `neutral_alt` : height of the hand for the immobility of the height of the drone ;
+- `min_points_number` : minimal number of points (for the point cloud used for the regression) necessary in order to send a command to the drone ;
+- `angle/x/y/z_vel` : proportionality coefficients to apply to the inputs in order to establish the command sent to the drone. Increase it will increase the speed of the drone ;
+- `up_fact` : proportionality coefficients to apply to the command that increases the height of the drone, compared to the equivalent command to reduce it (in order to correct the effect of gravity).
+
+### About `keyboard_cmd` ###
+
+It allows you to publish commands on the topic `cmd_vel` and so to steer the drone. It is scheduled for azerty keyboards. To launch it, run :
+
+```
+#!sh
+rosrun hand_control keyboard_cmd
+```
+
+To increase/decrease the speed (there is an explication on the controlpanel) : a,z,e,r and w,x,c,v
+
+The informations of the drone are updated when a key is pressed.
+
+To quit : CTRL+C and press "Enter" to return to the console.
+
+# Problems - Possible improvements #
+
+- If commands are published on `cmd_vel` (from the Kinect for instance) after the launch of `ardrone.launch` and before the takeoff, then, after the takeoff, the drone seems to obey to commands published before the takeoff.
+
+- As written above, the display of navigation data on `keyboard_cmd` is only updated when a key is pressed, and can therefore stay fixed when the keyboard commander is not used.
+
+- The takeoff/landing is not controllable with the hand. The keyboard must be used (`keyboard_cmd` or `rostopic pub`) instead. We can correct this by creating two new thresholds, minimal and maximal, for the hand height : a very low hand would make the drone land and a very high hand would make the drone take off.

cfg/Commander.cfg

@@ -1,16 +1,37 @@
 #!/usr/bin/env python
+# -*- encoding: utf-8 -*-
+
+# Copyright © 2015 CentraleSupélec
+# 
+# This file is part of Hand Control.
+# 
+# Hand Control is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+# 
+# Hand Control is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+# 
+# You should have received a copy of the GNU General Public License
+# along with Hand Control.  If not, see <http://www.gnu.org/licenses/>.
+
 PACKAGE = "hand_control"
 from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()
 gen.add("max_curvature", double_t, 0, "Maximum curvature of the estimated plane", 0.5, 0., 1.)
 gen.add("x_minimal_deviation", double_t, 0, "Absolute horizontal movement detection treshold", 0.1, 0.)
-gen.add("y_minimal_deviation", double_t, 0, "Absolute lateral movement detection treshold", 0.1, 0.)
+gen.add("y_minimal_deviation", double_t, 0, "Absolute lateral movement detection treshold", 0.2, 0.)
 gen.add("z_minimal_deviation", double_t, 0, "Absolute vertical movement detection treshold", 0.1, 0.)
-gen.add("neutral_alt", double_t, 0, "Reference altitude for vertical movement command", 0.8, 0.)
-gen.add("min_points_number", int_t, 0, "Minimal number of plane points needed for a valid estimation", 1000, 0)
+gen.add("neutral_alt", double_t, 0, "Reference altitude for vertical movement command", 1.1, 0.)
+gen.add("min_points_number", int_t, 0, "Minimal number of plane points needed for a valid estimation", 300, 0)
 gen.add("up_fact", double_t, 0, "Upward command amplification factor", 1.5, 1)
 gen.add("theta_minimal_deviation", double_t, 0, "Absolute angular movement detection treshold", 15., 0., 45.)
 gen.add("angle_vel", double_t, 0, "Angular velocity", 0.01, 0., 10.)
-gen.add("plan_vel", double_t, 0, "Translation velocity", 0.5, 0., 10.)
-gen.add("z_vel", double_t, 0, "Vertical translation velocity", 2., 0., 10.)
+gen.add("x_vel", double_t, 0, "X Translation velocity", 0.5, 0., 10.)
+gen.add("y_vel", double_t, 0, "Y Translation velocity", 0.3, 0., 10.)
+gen.add("z_vel", double_t, 0, "Vertical translation velocity", 1.5, 0., 10.)
+gen.add("no_diag", bool_t, 0, "Drone cannot translate on a diagonal direction", True)
 exit(gen.generate(PACKAGE, "hand_control", "Commander"))

cfg/Commander_atan.cfg

@@ -1,21 +0,0 @@
-#!/usr/bin/env python
-PACKAGE = "hand_control"
-from dynamic_reconfigure.parameter_generator_catkin import *
-gen = ParameterGenerator()
-gen.add("max_curvature", double_t, 0, "Maximum curvature of the estimated plane", 0.5, 0., 1.)
-gen.add("neutral_alt", double_t, 0, "Reference altitude for vertical movement command", 0.8, 0.)
-gen.add("min_points_number", int_t, 0, "Minimal number of plane points needed for a valid estimation", 1000, 0, 50000)
-gen.add("x_p", double_t, 0, "x gradient in 0", 0.5, 0.)
-gen.add("x_min", double_t, 0, "min x coord to be published", 0.1, 0., 1.)
-gen.add("x_max", double_t, 0, "max x coord to be published", 0.8, 0., 1.)
-gen.add("y_p", double_t, 0, "y gradient in 0", 0.5, 0.)
-gen.add("y_min", double_t, 0, "min y coord to be published", 0.1, 0., 1.)
-gen.add("y_max", double_t, 0, "max y coord to be published", 0.8, 0., 1.)
-gen.add("z_p", double_t, 0, "z gradient in 0", 1, 0.)
-gen.add("z_min", double_t, 0, "min z coord to be published", 0.1, 0., 1.)
-gen.add("z_max", double_t, 0, "max z coord to be published", 0.8, 0., 1.)
-gen.add("th_p", double_t, 0, "th gradient in 0", 0.005, 0.)
-gen.add("th_min", double_t, 0, "min th coord to be published", 0.1, 0., 1.)
-gen.add("th_max", double_t, 0, "max th coord to be published", 0.8, 0., 1.)
-gen.add("atan", bool_t, 0, "use atan function instead of linear function", False)
-exit(gen.generate(PACKAGE, "hand_control", "Commander_atan"))

cfg/Estimator.cfg

@@ -1,4 +1,23 @@
 #!/usr/bin/env python
+# -*- encoding: utf-8 -*-
+
+# Copyright © 2015 CentraleSupélec
+# 
+# This file is part of Hand Control.
+# 
+# Hand Control is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+# 
+# Hand Control is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+# 
+# You should have received a copy of the GNU General Public License
+# along with Hand Control.  If not, see <http://www.gnu.org/licenses/>.
+
 PACKAGE = "hand_control"
 from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()

cfg/Filter.cfg

@@ -1,4 +1,23 @@
 #!/usr/bin/env python
+# -*- encoding: utf-8 -*-
+
+# Copyright © 2015 CentraleSupélec
+# 
+# This file is part of Hand Control.
+# 
+# Hand Control is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+# 
+# Hand Control is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+# 
+# You should have received a copy of the GNU General Public License
+# along with Hand Control.  If not, see <http://www.gnu.org/licenses/>.
+
 PACKAGE = "hand_control"
 from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()

commander.yaml

@@ -1,37 +0,0 @@
-!!python/object/new:dynamic_reconfigure.encoding.Config
-dictitems:
-  angle_vel: 0.01
-  groups: !!python/object/new:dynamic_reconfigure.encoding.Config
-    dictitems:
-      angle_vel: 0.01
-      groups: !!python/object/new:dynamic_reconfigure.encoding.Config
-        state: []
-      id: 0
-      max_curvature: 0.5
-      min_points_number: 1000
-      name: Default
-      neutral_alt: 0.8
-      parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
-        state: []
-      parent: 0
-      plan_vel: 0.5
-      state: true
-      theta_minimal_deviation: 10.0
-      type: ''
-      up_fact: 1.5
-      x_minimal_deviation: 0.2
-      y_minimal_deviation: 0.2
-      z_minimal_deviation: 0.05
-      z_vel: 2.0
-    state: []
-  max_curvature: 0.5
-  min_points_number: 1000
-  neutral_alt: 0.8
-  plan_vel: 0.5
-  theta_minimal_deviation: 10.0
-  up_fact: 1.5
-  x_minimal_deviation: 0.2
-  y_minimal_deviation: 0.2
-  z_minimal_deviation: 0.05
-  z_vel: 2.0
-state: []

estimator.yaml

@@ -1,19 +0,0 @@
-!!python/object/new:dynamic_reconfigure.encoding.Config
-dictitems:
-  groups: !!python/object/new:dynamic_reconfigure.encoding.Config
-    dictitems:
-      groups: !!python/object/new:dynamic_reconfigure.encoding.Config
-        state: []
-      id: 0
-      name: Default
-      parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
-        state: []
-      parent: 0
-      reverse: false
-      reverse_angle: true
-      state: true
-      type: ''
-    state: []
-  reverse: false
-  reverse_angle: true
-state: []

filter.yaml

@@ -1,29 +0,0 @@
-!!python/object/new:dynamic_reconfigure.encoding.Config
-dictitems:
-  delta_hue: 10.0
-  groups: !!python/object/new:dynamic_reconfigure.encoding.Config
-    dictitems:
-      delta_hue: 10.0
-      groups: !!python/object/new:dynamic_reconfigure.encoding.Config
-        state: []
-      hue: 0.0
-      id: 0
-      name: Default
-      parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
-        state: []
-      parent: 0
-      sat_max: 1.0
-      sat_min: 0.13
-      state: true
-      type: ''
-      val_max: 1.0
-      val_min: 0.31
-      z_max: 2.0
-    state: []
-  hue: 0.0
-  sat_max: 1.0
-  sat_min: 0.13
-  val_max: 1.0
-  val_min: 0.31
-  z_max: 2.0
-state: []

launch/ardrone.launch

@@ -1,3 +1,21 @@
+<!--
+Copyright © 2015 CentraleSupélec
+
+This file is part of Hand Control.
+
+Hand Control is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+Hand Control is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with Hand Control.  If not, see <http://www.gnu.org/licenses/>.
+-->
 <!-- cf ARDrone Developer Guide -->
 <launch>
   <node name="ardrone_driver" pkg="ardrone_autonomy" type="ardrone_driver" output="screen" clear_params="true">
@@ -40,4 +58,3 @@
       <rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam>
   </node>
 </launch>
-

launch/freenect-registered-xyzrgb.launch

@@ -1,3 +1,21 @@
+<!--
+Copyright © 2015 CentraleSupélec
+
+This file is part of Hand Control.
+
+Hand Control is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+Hand Control is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with Hand Control.  If not, see <http://www.gnu.org/licenses/>.
+-->
 <launch>
   <include file="$(find freenect_launch)/launch/freenect.launch">
 

launch/kinect_commander.launch

@@ -1,4 +1,21 @@
+<!--
+Copyright © 2015 CentraleSupélec
 
+This file is part of Hand Control.
+
+Hand Control is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+Hand Control is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with Hand Control.  If not, see <http://www.gnu.org/licenses/>.
+-->
 <launch>
   <include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
 
@@ -13,5 +30,4 @@
   <node name="commander" pkg="hand_control" type="commander">
     <remap from="/commander/input" to="/estimator/output"/>
   </node>
-
 </launch>

launch/kinect_commander_atan.launch

@@ -1,17 +0,0 @@
-
-<launch>
-  <include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
-
-  <node name="filter" pkg="hand_control" type="filter">
-    <remap from="/filter/input" to="/camera/xyzrgb/points"/>
-  </node>
-
-  <node name="estimator" pkg="hand_control" type="estimator">
-    <remap from="/estimator/input" to="/filter/output"/>
-  </node>
-
-  <node name="commander_atan" pkg="hand_control" type="commander_atan">
-    <remap from="/commander_atan/input" to="/estimator/output"/>
-  </node>
-
-</launch>

package.xml

@@ -1,40 +1,33 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>hand_control</name>
-  <version>0.0.0</version>
-  <description>Contrôle d’un drone "Parrot AR Drone" par les mouvements de la main mesurés par une Kinect</description>
+  <version>1.1.0</version>
+  <description>
+	Controling a "Parrot AR Drone" with the hand movements measured by a Microsoft Kinect sensor.
+  </description>
+  <license>GPLv3+</license>
 
   <maintainer email="luc.absil@supelec.fr">Luc ABSIL</maintainer>
   <maintainer email="contact@lgdubois.fr">Louis-Guillaume DUBOIS</maintainer>
   <maintainer email="paul.janin@supelec.fr">Paul JANIN</maintainer>
 
-  <license>BSD</license>
-
-  <url type="website">https://bitbucket.org/_Luc_/handcontrol</url>
-
   <author email="luc.absil@supelec.fr">Luc ABSIL</author>
   <author email="contact@lgdubois.fr">Louis-Guillaume DUBOIS</author>
   <author email="paul.janin@supelec.fr">Paul JANIN</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>pcl_ros</build_depend>
-  <build_depend>pcl_msgs</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>geometry_msgs</build_depend>
+  <depend>pcl_ros</depend>
+  <depend>pcl_msgs</depend>
+  <depend>roscpp</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>dynamic_reconfigure</depend>
+
   <build_depend>message_generation</build_depend>
-  <build_depend>dynamic_reconfigure</build_depend>
-
-  <run_depend>pcl_ros</run_depend>
-  <run_depend>pcl_msgs</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>message_runtime</run_depend>
-  <run_depend>ardrone_autonomy</run_depend>
-  <run_depend>freenect_launch</run_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
-  <run_depend>rqt_reconfigure</run_depend>
 
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>ardrone_autonomy</exec_depend>
+  <exec_depend>freenect_launch</exec_depend>
+  <exec_depend>rqt_reconfigure</exec_depend>
 </package>

src/commander.cpp

@@ -1,149 +1,158 @@
-#include <ros/ros.h>
-#include <ros/time.h>
-#include <locale.h>
-#include <limits>
+/* Copyright © 2015 CentraleSupélec
+ * 
+ * This file is part of Hand Control.
+ * 
+ * Hand Control is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ * 
+ * Hand Control is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.    See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with Hand Control.    If not, see <http://www.gnu.org/licenses/>.
+ */
+
 #include <math.h>
 #include <assert.h>
+#include <locale.h>
+
+#include <ros/ros.h>
+#include <ros/time.h>
 
 #include <pcl_ros/point_cloud.h>
 #include <pcl/point_types.h>
 
 #include <hand_control/Plan.h>
 #include <geometry_msgs/Twist.h>
-#include <math.h>
 
 #include <dynamic_reconfigure/server.h>
 #include <hand_control/CommanderConfig.h>
 
+#include <limits>
 
-class Run
-{
-  private:
-    float xx, yy, zz, theta;
-    // xx < 0 : forward
-    // xx > 0 : backward
 
-    // yy > 0 : right
-    // yy < 0 : left
+class Run {
+ private:
+    float xx, yy, zz, theta;  // read coords
 
-    // zz > 0 : up
-    // zz < 0 : down
-
-    float plan_vel, z_vel, angle_vel, up_factor, neutral_z;
-
-    float max_curv;
-    float z_dev_min, x_dev_min, y_dev_min, th_dev_min;
-    uint64_t min_number;
-
-    bool first_msg;
+    // see README.md to know what are the parameters
+    float x_vel, y_vel, z_vel, angle_vel,
+         up_factor, neutral_z;    // parameters
+    float max_curv;  // not used yet
+    float z_dev_min, x_dev_min, y_dev_min,
+         th_dev_min;  // parameters : thresholds
+    uint64_t min_number;  // parameter
+    bool no_diag;  // parameter
 
     ros::Publisher pub;
 
-    void publish()
-    {
-      geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist());
+    void publish() {
+    // build and publish a message from the "xx",
+    // "yy", "zz" and "theta" informations
+        geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist());
 
-      if (fabs(zz) > z_dev_min)
-      {
-        if (zz > 0)
-          mvt->linear.z = zz * z_vel * up_factor ;
-        else
-          mvt->linear.z = zz * z_vel;
-      }
-
-      if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min)
-      {
-        mvt->linear.y = yy * plan_vel;
-      }
-      else if (fabs(xx) > x_dev_min)
-      {
-        mvt->linear.x = - xx * plan_vel;
-      }
-
-      if (fabs(theta) > th_dev_min) {
-        mvt->angular.z = theta * angle_vel;
-      }
-
-      assert(mvt->linear.x == 0. || mvt->linear.y == 0.);
-      pub.publish(mvt);
-      ROS_INFO("cmd published");
-    }//end publish
-
-  public:
-    Run(const ros::Publisher& cmd_publisher) :
-      pub(cmd_publisher)
-  {
-  }
-
-    void callback(const hand_control::Plan::ConstPtr& msg)
-    {
-      ROS_INFO("plan received");
-      if (msg->curvature < max_curv && msg->number > min_number)
-      {
-
-        if(msg->normal.z > 0)
-        {
-          yy = msg->normal.x;
-          xx = msg->normal.y;
-        }
-        else
-        {
-          yy = - msg->normal.x;
-          xx = - msg->normal.y;
+        if (fabs(zz) > z_dev_min) {
+            // up_factor to balance out the gravity effect
+            if (zz > 0)
+                mvt->linear.z = zz * z_vel * up_factor;
+            else
+                mvt->linear.z = zz * z_vel;
         }
 
-        zz = msg->altitude - neutral_z;
-
-        theta = msg->angle;
-        // theta between -90 and 90
-
-        if (first_msg)
-        {
-          first_msg = false;
-          ROS_INFO("first msg received");
+        // no_diag true : the drone can only translate on the "x" axis
+        // or the "y" axis but not on a linear combination of these axes.
+        if (no_diag) {
+            if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min)
+                mvt->linear.y = yy * y_vel;
+            else if (fabs(xx) > x_dev_min)
+                mvt->linear.x = - xx * x_vel;
+        } else {
+        // no_diag false : the drone can translate on any possible direction
+            if (fabs(yy) > y_dev_min)
+                mvt->linear.y = yy * y_vel;
+            if (fabs(xx) > x_dev_min)
+                mvt->linear.x = - xx * x_vel;
         }
-        ROS_INFO("coords updated");
-      } else {
-        xx = yy = zz = 0.;
-      }
-      publish();
-    };
 
-    void reconfigure(const hand_control::CommanderConfig& c, const uint32_t& level) {
-      max_curv = c.max_curvature;
-      x_dev_min = c.x_minimal_deviation;
-      y_dev_min = c.y_minimal_deviation;
-      z_dev_min = c.z_minimal_deviation;
-      th_dev_min = c.theta_minimal_deviation;
-      neutral_z = c.neutral_alt;
-      min_number = c.min_points_number;
-      up_factor = c.up_fact;
-      plan_vel = c.plan_vel;
-      z_vel = c.z_vel;
-      angle_vel = c.angle_vel;
-    }  
+        if (fabs(theta) > th_dev_min) {
+            mvt->angular.z = theta * angle_vel;
+        }
 
-    void run()
-    {
-      ros::spin();
+        pub.publish(mvt);
+        ROS_INFO("cmd published");
     }
 
+ public:
+    explicit Run(const ros::Publisher& cmd_publisher) :
+        pub(cmd_publisher) {}
+
+    // handle received messages
+    void callback(const hand_control::Plan::ConstPtr& msg) {
+        ROS_INFO("plan received");
+
+        // we ever have msg->curvature == 0 in fact (not implemented yet)
+        if (msg->curvature < max_curv && msg->number > min_number) {
+            if (msg->normal.z > 0) {
+                yy = msg->normal.x;
+                xx = msg->normal.y;
+            } else {
+                yy = - msg->normal.x;
+                xx = - msg->normal.y;
+            }
+            zz = msg->altitude - neutral_z;
+            theta = msg->angle;
+            // theta between -90 and 90
+            ROS_INFO("coords updated");
+        } else {
+            xx = yy = zz = 0.;
+        }
+        publish();
+    }
+
+    // updates the parameters (received with dynamic_reconfigure)
+    void reconfigure(const hand_control::CommanderConfig& c,
+                     const uint32_t& level) {
+        max_curv = c.max_curvature;
+        x_dev_min = c.x_minimal_deviation;
+        y_dev_min = c.y_minimal_deviation;
+        z_dev_min = c.z_minimal_deviation;
+        th_dev_min = c.theta_minimal_deviation;
+        neutral_z = c.neutral_alt;
+        min_number = c.min_points_number;
+        up_factor = c.up_fact;
+        x_vel = c.x_vel;
+        y_vel = c.y_vel;
+        z_vel = c.z_vel;
+        angle_vel = c.angle_vel;
+        no_diag = c.no_diag;
+    }
+
+    // runs the callbacks and publications process
+    void run() {
+        ros::spin();
+    }
 };
 
-int main(int argc, char** argv)
-{
-  ros::init(argc, argv, "commander");
-  ros::NodeHandle node("commander");
+int main(int argc, char** argv) {
+    ros::init(argc, argv, "commander");
+    ros::NodeHandle node("commander");
+    ros::Publisher cmd_pub =\
+         node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
+    Run run(cmd_pub);
+    ros::Subscriber plan_sub =\
+        node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run);
 
-  ros::Publisher cmd_pub = node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
-  Run run(cmd_pub);
-  ros::Subscriber plan_sub = node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run);
+    // setting up dynamic_reconfigure (for rqt_reconfigure)
+    dynamic_reconfigure::Server<hand_control::CommanderConfig> server;
+    dynamic_reconfigure::Server<hand_control::CommanderConfig>::CallbackType f;
+    f = boost::bind(&Run::reconfigure, &run, _1, _2);
+    server.setCallback(f);
 
-  dynamic_reconfigure::Server<hand_control::CommanderConfig> server;
-  dynamic_reconfigure::Server<hand_control::CommanderConfig>::CallbackType f;
-  f = boost::bind(&Run::reconfigure, &run, _1, _2);
-  server.setCallback(f);
-
-  run.run();
-  return 0;
+    // starts working
+    run.run();
+    return 0;
 }

src/commander_atan.cpp

@@ -1,185 +0,0 @@
-#include <ros/ros.h>
-#include <ros/time.h>
-#include <locale.h>
-#include <limits>
-#include <math.h>
-#include <assert.h>
-
-#include <pcl_ros/point_cloud.h>
-#include <pcl/point_types.h>
-
-#include <hand_control/Plan.h>
-#include <geometry_msgs/Twist.h>
-#include <math.h>
-
-#include <dynamic_reconfigure/server.h>
-#include <hand_control/Commander_atanConfig.h>
-#include "data.h"
-
-class Run
-{
-  private:
-
-    enum FType { f_lin, f_atan, f_undef };
-
-    class Function
-    {
-      private:
-        virtual void set_grad(const float& grad) = 0;
-      protected:
-        float min, max;
-        FType type;
-      public:
-        Function() : min(0.1f), max(0.8f) {}
-        virtual float f(const float& arg) = 0;
-        void set(const float& minimum, const float& maximum, const float& grad)
-        {
-          min = minimum;
-          max = maximum;
-          set_grad(grad);
-        }
-        FType get_type() { return type; }
-    };
-
-    class Atan : public Function
-    {
-      private:
-        static const float demi_pi;
-        float t;
-        virtual void set_grad(const float& grad)
-        {
-          t = grad*demi_pi/max;
-        }
-      public:
-        Atan() :t(demi_pi) { type = f_atan; }
-        virtual float f(const float& arg)
-        {
-          float out = max * atan(t * arg) / demi_pi;
-          if (fabs(out) > min)
-            return out;
-          else
-            return 0.;
-        }
-    };
-
-    class Lin : public Function
-    {
-      private:
-        float t;
-        virtual void set_grad(const float& grad)
-        {
-          t = grad;
-        }
-      public:
-        Lin() { type = f_lin; }
-        virtual float f(const float& arg)
-        {
-          float out = std::min(t * arg, max);
-          if (fabs(out) > min)
-            return out;
-          else
-            return 0.;
-        }
-    };
-
-    Data<boost::shared_ptr<Function> > f;
-    float neutral_z;
-    float max_curv;
-    uint64_t min_number;
-    ros::Publisher pub;
-
-  public:
-    Run(const ros::Publisher& cmd_publisher) :
-      pub(cmd_publisher) {
-        f.x = boost::make_shared<Lin>();
-        f.y = boost::make_shared<Lin>();
-        f.z = boost::make_shared<Lin>();
-        f.th = boost::make_shared<Lin>();
-      }
-
-    void callback(const hand_control::Plan::ConstPtr& msg)
-    {
-      ROS_INFO("plan received");
-      Data<float> in, out;
-      in.x = in.y = in.z = in.th = 0.;
-      if (msg->curvature < max_curv && msg->number > min_number)
-      {
-        if(msg->normal.z > 0)
-        {
-          in.y = - msg->normal.x;
-          in.x = msg->normal.y;
-        } else
-        {
-          in.y = - msg->normal.x;
-          in.x = msg->normal.y;
-        }
-        in.z = msg->altitude - neutral_z;
-        in.th = msg->angle;
-      }
-
-      geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist());
-
-      if (fabs(in.y) > fabs(in.x))
-      {
-        mvt->linear.y =  f.y->f(in.y);
-      } else
-      {
-        mvt->linear.x = f.x->f(in.x);
-      }
-
-      mvt->linear.z = f.z->f(in.z);
-
-      mvt->angular.z = f.th->f(in.th);
-
-      pub.publish(mvt);
-      ROS_INFO("cmd published");
-    }
-
-    void reconfigure(const hand_control::Commander_atanConfig& c, const uint32_t& level)
-    {
-      max_curv = c.max_curvature;
-      neutral_z = c.neutral_alt;
-      min_number = c.min_points_number;
-
-      if (c.atan and f.x->get_type() != f_atan)
-      {
-        f.x = boost::make_shared<Atan>();
-        f.y = boost::make_shared<Atan>();
-        f.z = boost::make_shared<Atan>();
-        f.th = boost::make_shared<Atan>();
-      } else if (!c.atan and f.x->get_type() == f_atan)
-      {
-        f.x = boost::make_shared<Lin>();
-        f.y = boost::make_shared<Lin>();
-        f.z = boost::make_shared<Lin>();
-        f.th = boost::make_shared<Lin>();
-      }
-      f.x->set(c.x_min, c.x_max, c.x_p);
-      f.y->set(c.y_min, c.y_max, c.y_p);
-      f.z->set(c.z_min, c.z_max, c.z_p);
-      f.th->set(c.th_min, c.th_max, c.th_p);
-      ROS_INFO("parameters reconfigured");
-    }  
-
-};
-
-int main(int argc, char** argv)
-{
-  ros::init(argc, argv, "commander_atan");
-  ros::NodeHandle node("commander_atan");
-
-  ros::Publisher cmd_pub = node.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
-  Run run(cmd_pub);
-  ros::Subscriber plan_sub = node.subscribe<hand_control::Plan>("input", 1, &Run::callback, &run);
-
-  dynamic_reconfigure::Server<hand_control::Commander_atanConfig> server;
-  dynamic_reconfigure::Server<hand_control::Commander_atanConfig>::CallbackType f;
-  f = boost::bind(&Run::reconfigure, &run, _1, _2);
-  server.setCallback(f);
-
-  ROS_INFO("start spinning");
-  ros::spin();
-  return 0;
-}
-
-const float Run::Atan::demi_pi = 2*atan(1);

src/data.h

@@ -1,9 +0,0 @@
-#ifndef DATA_H
-#define DATA_H
-template <typename T>
-struct Data
-{
-  public:
-    T x, y, z, th;
-};
-#endif

src/display.cpp

@@ -1,7 +1,28 @@
+/* Copyright © 2015 CentraleSupélec
+ * 
+ * This file is part of Hand Control.
+ * 
+ * Hand Control is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ * 
+ * Hand Control is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with Hand Control.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// library used by "keyboard_cmd.cpp"
+
+#include "./display.h"
+
 #include <ncurses.h>
-#include <string>
 #include <geometry_msgs/Twist.h>
-#include "display.h"
+#include <string>
 
 const int Curses::cmd_kbd_lines = 8;
 const int Curses::cmd_kbd_columns = 55;
@@ -22,110 +43,110 @@ const int Curses::topic_lines = 8;
 const int Curses::topic_columns = 22;
 
 Curses::Curses() {
-  initscr();
-  cbreak();
-  start_color();
-  //noecho();
+    initscr();
+    cbreak();
+    start_color();
+    // noecho();
 
-  cmd_kbd = newwin(cmd_kbd_lines, cmd_kbd_columns, 0, 0);
+    cmd_kbd = newwin(cmd_kbd_lines, cmd_kbd_columns, 0, 0);
 
-  get = newwin(get_lines, get_columns,
+    get = newwin(get_lines, get_columns,
                cmd_kbd_lines, cmd_kbd_columns/2);
 
-  cmd_speed = newwin(cmd_speed_lines, cmd_speed_columns,
+    cmd_speed = newwin(cmd_speed_lines, cmd_speed_columns,
                 cmd_kbd_lines + get_lines, 0);
 
-  log_sent_title = newwin(1, log_sent_w_columns,
+    log_sent_title = newwin(1, log_sent_w_columns,
                           0, cmd_kbd_columns + 1);
-  waddstr(log_sent_title, "SENT COMMANDS");
-  wrefresh(log_sent_title);
-  log_sent_w = newwin(log_sent_w_lines - 1, log_sent_w_columns,
+    waddstr(log_sent_title, "SENT COMMANDS");
+    wrefresh(log_sent_title);
+    log_sent_w = newwin(log_sent_w_lines - 1, log_sent_w_columns,
                       1, cmd_kbd_columns + 1);
-  log_line_number = log_sent_w_lines - 2; 
-  wattron(log_sent_w, A_BOLD);
-  init_pair(1, COLOR_GREEN, COLOR_BLACK);
-  wattron(log_sent_w, COLOR_PAIR(1));
-  scrollok(log_sent_w, TRUE);
+    log_line_number = log_sent_w_lines - 2;
+    wattron(log_sent_w, A_BOLD);
+    init_pair(1, COLOR_GREEN, COLOR_BLACK);
+    wattron(log_sent_w, COLOR_PAIR(1));
+    scrollok(log_sent_w, TRUE);
 
-  nav_data = newwin(nav_data_lines, nav_data_columns,
+    nav_data = newwin(nav_data_lines, nav_data_columns,
                     cmd_kbd_lines + get_lines + cmd_speed_lines + 1, 0);
-  init_pair(2, COLOR_RED, COLOR_BLACK);
-  wattron(nav_data, COLOR_PAIR(2));
-  wattron(nav_data, A_BOLD);
+    init_pair(2, COLOR_RED, COLOR_BLACK);
+    wattron(nav_data, COLOR_PAIR(2));
+    wattron(nav_data, A_BOLD);
 
-  topic = newwin(topic_lines, topic_columns,
+    topic = newwin(topic_lines, topic_columns,
       cmd_kbd_lines + get_lines + cmd_speed_lines + 1,
       nav_data_columns + 1);
-  init_pair(3, COLOR_BLUE, COLOR_BLACK);
-  wattron(topic, COLOR_PAIR(3));
-  wattron(topic, A_BOLD);
+    init_pair(3, COLOR_BLUE, COLOR_BLACK);
+    wattron(topic, COLOR_PAIR(3));
+    wattron(topic, A_BOLD);
 
-  print_nav_data();
-  print_cmd_kbd();
-  print_cmd_speed();
-  print_topic();
+    print_nav_data();
+    print_cmd_kbd();
+    print_cmd_speed();
+    print_topic();
 
-  wmove(get, 0, 0);
-  wrefresh(get);
+    wmove(get, 0, 0);
+    wrefresh(get);
 }
 
 Curses::~Curses() {
-  delwin(cmd_kbd);
-  delwin(cmd_speed);
-  delwin(log_sent_w);
-  delwin(log_sent_title);
-  delwin(nav_data);
-  delwin(get);
-  delwin(topic);
-  endwin();
+    delwin(cmd_kbd);
+    delwin(cmd_speed);
+    delwin(log_sent_w);
+    delwin(log_sent_title);
+    delwin(nav_data);
+    delwin(get);
+    delwin(topic);
+    endwin();
 }
 
 char Curses::getchar() {
-  return wgetch(get);
+    return wgetch(get);
 }
 
 void Curses::print_cmd_kbd() {
-  wmove(cmd_kbd, 0, 0);
-   waddstr(cmd_kbd, "         ---------------------\n");
-   waddstr(cmd_kbd, " takeoff>|  t|⇑ y|↖ u|↑ i|↗ o|\n");
-   waddstr(cmd_kbd, "         |---|---|---|---|---|----\n");
-   waddstr(cmd_kbd, "   reset>|  g|⇐ h|← j|  k|→ l|⇒ m|\n");
-   waddstr(cmd_kbd, "         |---|---|---|---|---|----\n");
-   waddstr(cmd_kbd, "    land>|  b|⇓ n|↙ ,|↓ ;|↘ :|\n");
-   waddstr(cmd_kbd, "         ---------------------\n");
-   waddstr(cmd_kbd, "        Press ctrl + C to quit");
-  wrefresh(cmd_kbd);
+    wmove(cmd_kbd, 0, 0);
+    waddstr(cmd_kbd, "         ---------------------\n");
+    waddstr(cmd_kbd, " takeoff>|  t|⇑ y|↖ u|↑ i|↗ o|\n");
+    waddstr(cmd_kbd, "         |---|---|---|---|---|----\n");
+    waddstr(cmd_kbd, "   reset>|  g|⇐ h|← j|  k|→ l|⇒ m|\n");
+    waddstr(cmd_kbd, "         |---|---|---|---|---|----\n");
+    waddstr(cmd_kbd, "    land>|  b|⇓ n|↙ ,|↓ ;|↘ :|\n");
+    waddstr(cmd_kbd, "         ---------------------\n");
+    waddstr(cmd_kbd, "        Press ctrl + C to quit");
+    wrefresh(cmd_kbd);
 }
 
 void Curses::print_cmd_speed() {
-  wmove(cmd_speed, 0, 0);
-  waddstr(cmd_speed, " `x` cmd speed :         (a/w : increase/decrease)\n");
-  waddstr(cmd_speed, " `y` cmd speed :         (z/x : increase/decrease)\n");
-  waddstr(cmd_speed, " `z` cmd speed :         (e/c : increase/decrease)\n");
-  waddstr(cmd_speed, "rotation speed :         (r/v : increase/decrease)\n");
-  wrefresh(cmd_speed);
+    wmove(cmd_speed, 0, 0);
+    waddstr(cmd_speed, " `x` cmd speed :         (a/w : increase/decrease)\n");
+    waddstr(cmd_speed, " `y` cmd speed :         (z/x : increase/decrease)\n");
+    waddstr(cmd_speed, " `z` cmd speed :         (e/c : increase/decrease)\n");
+    waddstr(cmd_speed, "rotation speed :         (r/v : increase/decrease)\n");
+    wrefresh(cmd_speed);
 }
 
 void Curses::update_cmd_speed(const char& coord, const float& v) {
-  switch(coord) {
-    case 'x':
-      wmove(cmd_speed, 0, 16);
-      wprintw(cmd_speed, "%f", v);
-      break;
-    case 'y':
-      wmove(cmd_speed, 1, 16);
-      wprintw(cmd_speed, "%f", v);
-      break;
-    case 'z':
-      wmove(cmd_speed, 2, 16);
-      wprintw(cmd_speed, "%f", v);
-      break;
-    case 't':
-      wmove(cmd_speed, 3, 16);
-      wprintw(cmd_speed, "%f", v);
-      break;
-    default:
-      ;
+    switch (coord) {
+        case 'x':
+            wmove(cmd_speed, 0, 16);
+            wprintw(cmd_speed, "%f", v);
+            break;
+        case 'y':
+              wmove(cmd_speed, 1, 16);
+              wprintw(cmd_speed, "%f", v);
+              break;
+        case 'z':
+            wmove(cmd_speed, 2, 16);
+            wprintw(cmd_speed, "%f", v);
+            break;
+        case 't':
+            wmove(cmd_speed, 3, 16);
+            wprintw(cmd_speed, "%f", v);
+            break;
+        default:
+            {}
   }
   wrefresh(cmd_speed);
 }
@@ -151,39 +172,39 @@ void Curses::update_nav_data(const float& batteryPercent,
   wmove(nav_data, 2, 10);
   wprintw(nav_data, "%f %", time);
   wmove(nav_data, 1, 10);
-  switch(state) {
+  switch (state) {
     case 0:
-      waddstr(nav_data, "unknown    ");
-      break;
+        waddstr(nav_data, "unknown    ");
+        break;
     case 1:
-      waddstr(nav_data, "inited     ");
-      break;
+        waddstr(nav_data, "inited     ");
+        break;
     case 2:
-      waddstr(nav_data, "landed     ");
-      break;
+        waddstr(nav_data, "landed     ");
+        break;
     case 3:
-      waddstr(nav_data, "flying     ");
-      break;
+        waddstr(nav_data, "flying     ");
+        break;
     case 4:
-      waddstr(nav_data, "hovering   ");
-      break;
+        waddstr(nav_data, "hovering   ");
+        break;
     case 5:
-      waddstr(nav_data, "test       ");
-      break;
+        waddstr(nav_data, "test       ");
+        break;
     case 6:
-      waddstr(nav_data, "taking off ");
-      break;
+        waddstr(nav_data, "taking off ");
+        break;
     case 7:
-      waddstr(nav_data, "flying     ");
-      break;
+        waddstr(nav_data, "flying     ");
+        break;
     case 8:
-      waddstr(nav_data, "landing    ");
-      break;
+        waddstr(nav_data, "landing    ");
+        break;
     case 9:
-      waddstr(nav_data, "looping    ");
-      break;
+        waddstr(nav_data, "looping    ");
+        break;
     default:
-      ;
+        {}
   }
   wrefresh(nav_data);
 }

src/display.h

@@ -1,13 +1,30 @@
-#ifndef CURSES_DISPLAY
-#define CURSES_DISPLAY
+/* Copyright © 2015 CentraleSupélec
+ * 
+ * This file is part of Hand Control.
+ * 
+ * Hand Control is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ * 
+ * Hand Control is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with Hand Control.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef SRC_DISPLAY_H_
+#define SRC_DISPLAY_H_
 
 #include <ncurses.h>
-#include <string>
 #include <geometry_msgs/Twist.h>
+#include <string>
 
-class Curses
-{
-  private:
+class Curses {
+ private:
     static const int cmd_kbd_lines;
     static const int cmd_kbd_columns;
     WINDOW* cmd_kbd;
@@ -32,18 +49,17 @@ class Curses
     static const int nav_data_columns;
     WINDOW* nav_data;
     void print_nav_data();
-  
+
     static const int topic_lines;
     static const int topic_columns;
     WINDOW* topic;
     void print_topic();
 
-  public:
+ public:
     Curses();
     ~Curses();
     char getchar();
 
-    // TODO
     void update_cmd_speed(const char& coord, const float& v);
     void update_nav_data(const float& batteryPercent,
                         const int& state,
@@ -52,4 +68,4 @@ class Curses
     void update_topic(const geometry_msgs::Twist::ConstPtr& twist);
 };
 
-#endif
+#endif  // SRC_DISPLAY_H_

src/estimator.cpp

@@ -1,3 +1,25 @@
+/* Copyright © 2015 CentraleSupélec
+ *
+
+ * This file is part of Hand Control.
+ *
+
+ * Hand Control is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+
+ * Hand Control is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+
+ * You should have received a copy of the GNU General Public License
+ * along with Hand Control.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 #include <ros/ros.h>
 #include <pcl_ros/point_cloud.h>
 #include <pcl/point_types.h>
@@ -15,122 +37,143 @@ typedef pcl::PointCloud<Point> PointCloud;
 typedef Eigen::Matrix3f& Matrix;
 
 class Callback {
-  public:
-    void callback(const PointCloud::ConstPtr& msg)
-    {
-      ROS_INFO("PointCloud received");
+ public:
+    // handles received messages and publish the plan estimation
+    void callback(const PointCloud::ConstPtr& msg) {
+        ROS_INFO("PointCloud received");
 
-      if (msg->width > 3){
+        if (msg->width > 3) {
+            // else, no plan can be estimated…
+            analyser.setInputCloud(msg);
+            Matrix eg = analyser.getEigenVectors();
 
-        analyser.setInputCloud(msg);
-        Matrix eg = analyser.getEigenVectors();
+            // to build the "Plan" message to be published
+            float x, y, z, th, h, c;
+            x = y = z = th = h = c = 0.;
 
-        float x, y, z, th, h, c;
-        x = y = z = th = h = c = 0.;
+            // v = eg_1 ^ eg_2 is the plan normal
+            Eigen::Vector3f v = eg.col(0).cross(eg.col(1));
+            v.normalize();  // to have norm(v) == 1
 
-        // we consider the whole PointCloud
-        std::vector<int> indices;
-        for (int i = 0; i < msg->points.size(); ++i)
-          indices.push_back(i);
+            // x, y and z are the coords of the plan normal
+            if (!reverse) {
+                x = v(0); y = v(1);
+            } else {
+                // if "x" and "y" axes are inverted
+                // (reverse is a parameter to set with dynamic_reconfigure)
+                x = v(1); y = v(0);
+            }
+            z = v(2);
 
-        // v = eg_1 ^ eg_2 is the plan normal
-        Eigen::Vector3f v = eg.col(0).cross(eg.col(1));
-        // norm(v) == 1
-        v.normalize();
-        if (!reverse)
-        {
-          x = v(0); y=v(1);
-        } else {
-          x = v(1); y = v(0);
+            // h is the altitude
+            h = (analyser.getMean())(2);
+
+
+            // angle calculation
+
+
+            // m_x and m_y are the "x" and "y" coords
+            // of the first principal component
+            float m_x, m_y;
+
+
+
+            // parameter to set
+            // with dynamic_reconfigure
+            if (reverse_angle) {
+                m_x = eg(0, 0);
+                m_y = eg(1, 0);
+            } else {
+                m_x = eg(1, 0);
+                m_y = eg(0, 0);
+            }
+
+            // because we want "th" only between -90° and 90°
+            if (m_x < 0.)
+                m_y *= -1;
+
+            th = - asin(m_y / sqrt(pow(m_y, 2)+ pow(m_x, 2)));  // 0 <= th <= pi
+            th *= _RAD2DEG;  // -90 <= th <= 90
+
+            // TODO(someone)
+            // -> calculate "c" (the curvature)
+            // ( c == 0 for the moment)
+
+            // publication
+            ROS_INFO("Plan published");
+            publisher.publish(
+                to_Plan(
+                    x, y, z, h, th, c,
+                    msg->header.seq,
+                    msg->header.stamp,
+                    msg->width));
         }
-        z=v(2);
-
-        // h is the altitude
-        h = (analyser.getMean())(2);
-
-        // this formula is good only if :
-        //  -pi/2 <= th <= pi/2
-        // ie cos(th) == m_x >= 0
-        float m_x, m_y;
-        if (reverse_angle)
-        {
-          m_x = eg(0,0);
-          m_y = eg(1,0);
-        } else {
-          m_x = eg(1,0);
-          m_y = eg(0,0);
-        }
-
-        if (m_x < 0.)
-          m_y *= -1;
-
-        th = - asin(m_y / sqrt(pow(m_y,2)+ pow(m_x,2)));
-        // 0 <= th <= pi
-        th *= _RAD2DEG;
-        // -90 <= th <= 90
-
-        // publication
-        ROS_INFO("Plan published");
-        publisher.publish(to_Plan(x, y, z, h, th, c, msg->header.seq, msg->header.stamp, msg->width));
-      }
     }
 
-    Callback(ros::Publisher& pub):publisher(pub), _RAD2DEG(45.f/atan(1.)), reverse(false), reverse_angle(false) {};
+    explicit Callback(const ros::Publisher& pub) :
+        publisher(pub),
+        _RAD2DEG(45.f/atan(1.)),
+        reverse(false),
+        reverse_angle(false) {}
 
-
-    void reconfigure(const hand_control::EstimatorConfig& c, const uint32_t& level) { 
-      reverse = c.reverse ;
-      reverse_angle = c.reverse_angle;
+    // updates the parameters received from dynamic_reconfigure
+    void reconfigure(const hand_control::EstimatorConfig& c,
+                     const uint32_t& level) {
+        reverse = c.reverse;
+        reverse_angle = c.reverse_angle;
     }
 
-  private:
+ private:
     ros::Publisher publisher;
     pcl::PCA<Point> analyser;
     const float _RAD2DEG;
     bool reverse, reverse_angle;
 
+    // return a "Plan" message build with
+    // the informations provided
     inline const hand_control::Plan::ConstPtr
-      to_Plan(const float& x, const float& y,
-              const float& z, const float& h,
-              const float& th,
-              const float& c, const uint32_t& seq,
-              const uint64_t& msec64, const uint64_t& number)
-      {
-        hand_control::Plan::Ptr ros_msg(new hand_control::Plan());
-        ros_msg->normal.x = x; 
-        ros_msg->normal.y = y; 
-        ros_msg->normal.z = z; 
-        ros_msg->altitude = h;
-        ros_msg->angle = th;
-        ros_msg->curvature = c; 
-        ros_msg->number = number;
-        // uint64_t msec64 is in ms (10-6)
-        uint64_t sec64 = msec64 / 1000000;
-        uint64_t nsec64 = (msec64 % 1000000) * 1000;
-        ros_msg->header.stamp.sec = (uint32_t) sec64;
-        ros_msg->header.stamp.nsec = (uint32_t) nsec64;
-        ros_msg->header.seq = seq;
-        ros_msg->header.frame_id = "0";
-        return ros_msg;
-      }
+        to_Plan(const float& x, const float& y,
+                const float& z, const float& h,
+                const float& th,
+                const float& c, const uint32_t& seq,
+                const uint64_t& msec64, const uint64_t& number) {
+            hand_control::Plan::Ptr ros_msg(new hand_control::Plan());
+            ros_msg->normal.x = x;
+            ros_msg->normal.y = y;
+            ros_msg->normal.z = z;
+
+            ros_msg->altitude = h;
+            ros_msg->angle = th;
+            ros_msg->curvature = c;
+
+            ros_msg->number = number;
+            uint64_t sec64 = msec64 / 1000000;
+            uint64_t nsec64 = (msec64 % 1000000) * 1000;
+            ros_msg->header.stamp.sec = (uint32_t) sec64;
+            ros_msg->header.stamp.nsec = (uint32_t) nsec64;
+            ros_msg->header.seq = seq;
+            ros_msg->header.frame_id = "0";
+            return ros_msg;
+        }
 };
 
-int main(int argc, char** argv)
-{
-  ros::init(argc, argv, "estimator");
-  ros::NodeHandle node("estimator");
+int main(int argc, char** argv) {
+    ros::init(argc, argv, "estimator");
+    ros::NodeHandle node("estimator");
+    ros::Publisher  publisher = node.advertise<hand_control::Plan>("output", 1);
+    Callback callback(publisher);
+    ros::Subscriber subscriber =
+        node.subscribe<PointCloud>("input", 1, &Callback::callback, &callback);
 
-  ros::Publisher  publisher = node.advertise<hand_control::Plan>("output", 1);
-  Callback callback(publisher);
-  ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, &Callback::callback, &callback);
+    // sets up dynamic_reconfigure
+    dynamic_reconfigure::Server<hand_control::EstimatorConfig> server;
+    dynamic_reconfigure::Server<hand_control::EstimatorConfig>::CallbackType f;
+    f = boost::bind(&Callback::reconfigure, &callback, _1, _2);
+    server.setCallback(f);
 
-  dynamic_reconfigure::Server<hand_control::EstimatorConfig> server;
-  dynamic_reconfigure::Server<hand_control::EstimatorConfig>::CallbackType f;
-  f = boost::bind(&Callback::reconfigure, &callback, _1, _2);
-  server.setCallback(f);
-
-  ROS_INFO("node started");
-  ros::spin();
-  ROS_INFO("exit");
-  return 0;
+    // begins working
+    ROS_INFO("node started");
+    ros::spin();
+    ROS_INFO("exit");
+    return 0;
 }

src/filter.cpp

@@ -1,99 +1,137 @@
+/* Copyright © 2015 CentraleSupélec
+ * 
+ * This file is part of Hand Control.
+ * 
+ * Hand Control is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ * 
+ * Hand Control is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with Hand Control.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#include <assert.h>
+#include <hand_control/FilterConfig.h>
 #include <ros/ros.h>
 #include <pcl_ros/point_cloud.h>
 #include <pcl/point_types.h>
 #include <pcl/tracking/impl/hsv_color_coherence.hpp>
-#include <assert.h>
 #include <dynamic_reconfigure/server.h>
-#include <hand_control/FilterConfig.h>
+#include <algorithm>
 
 
 typedef pcl::PointXYZRGB Point;
 typedef pcl::PointCloud<Point> PointCloud;
 
 class Callback {
-  public:
-    void
-    callback(const PointCloud::ConstPtr& msg)
-    {
-      PointCloud::Ptr pcl(new PointCloud());
-      copy_info(msg, pcl);
-      BOOST_FOREACH (const Point& pt, msg->points)
-      {
-        float hue_dist, sat, val;
-        hdist_s_v(pt, hue_dist, sat, val);
-        if (pt.z < z_max and hue_dist < delta_hue and sat < sat_max and sat > sat_min and val < val_max and val > val_min)
-          pcl->push_back(pt);
-      }
-      pcl->height = 1;
-      pcl->width = pcl->points.size();
-      publisher.publish(pcl);
+ public:
+    // handles and filters the received PointCloud and
+    // publishes the filtered PointCloud
+    void callback(const PointCloud::ConstPtr& msg) {
+        PointCloud::Ptr pcl(new PointCloud());
+        copy_info(msg, pcl);  // copy the header
+        BOOST_FOREACH(const Point& pt, msg->points) {
+            float hue_dist, sat, val;
+            hdist_s_v(pt, hue_dist, sat, val);
+            if (pt.z < z_max &&
+                hue_dist < delta_hue &&
+                sat < sat_max &&
+                sat > sat_min &&
+                val < val_max &&
+                val > val_min) {
+                  pcl->push_back(pt);
+            }
+        }
+        pcl->height = 1;
+        pcl->width = pcl->points.size();
+        publisher.publish(pcl);
     }
 
-    Callback(const ros::Publisher& pub)
-    : publisher(pub), z_max(90.), hue(0.), delta_hue(20.),  sat_min(0.3), sat_max(1.), val_min(0.3), val_max(1.)
-    {}
+    explicit Callback(const ros::Publisher& pub) :
+        publisher(pub),
+        z_max(90.),
+        hue(0.),
+        delta_hue(20.),
+        sat_min(0.3),
+        sat_max(1.),
+        val_min(0.3),
+        val_max(1.) {}
 
-  void
-  reconfigure(const hand_control::FilterConfig& c, const uint32_t& level) { 
-    z_max = c.z_max;
-    hue = c.hue;
-    delta_hue = c.delta_hue;
-    val_min = c.val_min;
-    val_max = c.val_max;
-    sat_min = c.sat_min;
-    sat_max = c.sat_max;
+  // updates the parameters
+  void reconfigure(const hand_control::FilterConfig& c,
+                   const uint32_t& level) {
+        z_max = c.z_max;
+        hue = c.hue;
+        delta_hue = c.delta_hue;
+        val_min = c.val_min;
+        val_max = c.val_max;
+        sat_min = c.sat_min;
+        sat_max = c.sat_max;
   }
 
-  private:
+ private:
     ros::Publisher publisher;
-    float z_max, hue, delta_hue, val_min, val_max, sat_min, sat_max;
+    float z_max, hue, delta_hue, val_min,
+        val_max, sat_min, sat_max;
 
-    inline
-    void
-    copy_info(const PointCloud::ConstPtr& a,
-              PointCloud::Ptr& b)
-    {
-      b->header = a->header;
-      b->sensor_origin_ = a->sensor_origin_;
-      b->sensor_orientation_ = a->sensor_orientation_;
-      b->is_dense = a->is_dense;
+    // copy the header info (useful in order to use rviz)
+    inline void copy_info(const PointCloud::ConstPtr& a,
+                          PointCloud::Ptr& b) {
+        b->header = a->header;
+        b->sensor_origin_ = a->sensor_origin_;
+        b->sensor_orientation_ = a->sensor_orientation_;
+        b->is_dense = a->is_dense;
     }
 
-    inline
-    void
-    hdist_s_v(const Point& pt, float& h_dist, float& s, float& v)
-    {
-      float h, diff1, diff2;
-      pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v);
-      h *= 360.0f ;
-      diff1 = std::fabs(h - hue);
-      if (h < hue)
-        diff2 = std::fabs(360.0f + h - hue);
-      else
-        diff2 = std::fabs(360.0f + hue - h);
-      h_dist = std::min(diff1, diff2);
+    // calculate the distance from the wished hue,
+    // the saturation and the value of the point
+    inline void hdist_s_v(const Point& pt,
+                          float& h_dist,
+                          float& s,
+                          float& v) {
+        float h, diff1, diff2;
+        pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v);
+        h *= 360.0f;
+        diff1 = std::fabs(h - hue);
+        // hue is periodic
+        if (h < hue)
+            diff2 = std::fabs(360.0f + h - hue);
+        else
+            diff2 = std::fabs(360.0f + hue - h);
+        h_dist = std::min(diff1, diff2);
     }
 };
 
-int
-main(int argc, char** argv)
-{
-  ros::init(argc, argv, "filter");
-  ros::NodeHandle node("filter");
+int main(int argc, char** argv) {
+    ros::init(argc, argv, "filter");
+    ros::NodeHandle node("filter");
 
-  // initialisation
-  ros::Publisher  publisher = node.advertise<PointCloud>("output", 1);
-  Callback my_callback(publisher);
-  ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, &Callback::callback, &my_callback);
+    ros::Publisher  publisher =
+        node.advertise<PointCloud>("output", 1);
 
-  dynamic_reconfigure::Server<hand_control::FilterConfig> server;
-  dynamic_reconfigure::Server<hand_control::FilterConfig>::CallbackType f;
-  f = boost::bind(&Callback::reconfigure, &my_callback, _1, _2);
-  server.setCallback(f);
+    Callback my_callback(publisher);
 
-  // démarrage
-  ROS_INFO("node started");
-  ros::spin();
-  ROS_INFO("exit");
-  return 0;
+    ros::Subscriber subscriber =
+        node.subscribe<PointCloud>("input", 1,
+                                   &Callback::callback,
+                                   &my_callback);
+
+    // sets up dynamic_reconfigure
+    dynamic_reconfigure::Server<hand_control::FilterConfig> server;
+    dynamic_reconfigure::Server<hand_control::FilterConfig>::CallbackType f;
+    f = boost::bind(&Callback::reconfigure, &my_callback, _1, _2);
+    server.setCallback(f);
+
+    // begins working
+    ROS_INFO("node started");
+    ros::spin();
+    ROS_INFO("exit");
+    return 0;
 }

src/keyboard_azerty.py

@@ -1,127 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-import roslib;# roslib.load_manifest('teleop_twist_keyboard')
-import rospy
-
-from geometry_msgs.msg import Twist
-from std_msgs.msg import Empty
-
-import sys, select, termios, tty
-
-msg = """
-        ---------------------
-takeoff>|  t|⇑ y|↖ u|↑ i|↗ o|  
-        |---|---|---|---|---|----
-  reset>|  g|⇐ h|← j|  k|→ l|⇒ m|
-        |---|---|---|---|---|----
-   land>|  b|⇓ n|↙ ,|↓ ;|↘ :| 
-        ---------------------
-
-a/w : increase/decrease max speeds by 10%
-z/x : increase/decrease only linear speed by 10%
-e/c : increase/decrease only angular speed by 10%
-anything else : stop
-
-CTRL-C to quit
-"""
-
-moveBindings = {
-    #   x th y z
-    'i':(1,0,0,0),
-    'o':(1,-1,0,0),
-    'j':(0,1,0,0),
-    'l':(0,-1,0,0),
-    'u':(1,1,0,0),
-    ';':(-1,0,0,0),
-    ':':(-1,1,0,0),
-    ',':(-1,-1,0,0),
-    'h':(0,0,-1,0),
-    'm':(0,0,1,0),
-    'y':(0,0,0,1),
-    'n':(0,0,0,-1),
-         }
-
-speedBindings={
-    'a':(1.1,1.1),
-    'w':(.9,.9),
-    'z':(1.1,1),
-    'x':(.9,1),
-    'e':(1,1.1),
-    'c':(1,.9),
-        }
-
-def getKey():
-  tty.setraw(sys.stdin.fileno())
-  select.select([sys.stdin], [], [], 0)
-  key = sys.stdin.read(1)
-  termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
-  return key
-
-speed = 0.1
-turn = 0.5
-
-def vels(speed,turn):
-  return "currently:\tspeed %s\tturn %s " % (speed,turn)
-
-if __name__=="__main__":
-  settings = termios.tcgetattr(sys.stdin)
-  pub = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
-  land = rospy.Publisher('/ardrone/land', Empty, queue_size=1)
-  takeoff = rospy.Publisher('/ardrone/takeoff', Empty, queue_size=1)
-  reset = rospy.Publisher('/ardrone/reset', Empty, queue_size=1)
-  rospy.init_node('keyboard_azerty')
-  x = 0
-  th = 0
-  y = 0
-  z = 0
-  status = 0
-  try:
-    print msg
-    print vels(speed,turn)
-    while(1):
-      key = getKey()
-      if (key == 't'):
-        takeoff.publish(Empty())
-        print "takeoff"
-      elif (key == 'g'):
-        reset.publish(Empty())
-        print "reset"
-      elif (key == 'b'):
-        land.publish(Empty())
-        print "land"
-      else:
-        if key in moveBindings.keys():
-          x = moveBindings[key][0]
-          th = moveBindings[key][1]
-          y = moveBindings[key][2]
-          z = moveBindings[key][3]
-        elif key in speedBindings.keys():
-          speed = speed * speedBindings[key][0]
-          turn = turn * speedBindings[key][1]
-          print vels(speed,turn)
-          if (status == 14):
-            print msg
-          status = (status + 1) % 15
-        else:
-          x = 0
-          th = 0
-          y = 0
-          z = 0
-          if (key == '\x03'):
-            break
-        twist = Twist()
-        twist.linear.x = x*speed
-        twist.linear.y = y*speed
-        twist.linear.z = z*speed
-        twist.angular.x = 0; twist.angular.y = 0;
-        twist.angular.z = th*turn
-        pub.publish(twist)
-  except:
-    print e
-  finally:
-    twist = Twist()
-    twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
-    twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
-    pub.publish(twist)
-    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
-

src/keyboard_cmd.cpp

@@ -1,277 +1,269 @@
+/* Copyright © 2015 CentraleSupélec
+ * 
+ * This file is part of Hand Control.
+ * 
+ * Hand Control is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ * 
+ * Hand Control is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ * 
+ * You should have received a copy of the GNU General Public License
+ * along with Hand Control.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
 #include <ros/ros.h>
 #include <ros/time.h>
 #include <locale.h>
-#include "display.h"
 
 #include <std_msgs/Empty.h>
 #include <geometry_msgs/Twist.h>
 #include <ardrone_autonomy/Navdata.h>
 
-class NavdataCallback
-{
-  private:
+#include "./display.h"
+
+class NavdataCallback {
+ private:
     boost::shared_ptr<Curses> term;
 
-  public:
-    NavdataCallback(const boost::shared_ptr<Curses>& terminal) :
-      term(terminal) {}
+ public:
+    explicit NavdataCallback(const boost::shared_ptr<Curses>& terminal) :
+        term(terminal) {}
 
     void operator()(const ardrone_autonomy::Navdata::ConstPtr& msg) {
-      term->update_nav_data(msg->batteryPercent, msg->state, msg->tm);
+        term->update_nav_data(msg->batteryPercent, msg->state, msg->tm);
     }
-}; // class NavdataCallback
+};
 
-class CmdVelCallback
-{
-  private:
+class CmdVelCallback {
+ private:
     boost::shared_ptr<Curses> term;
 
-  public:
-    CmdVelCallback(const boost::shared_ptr<Curses>& terminal) :
+ public:
+    explicit CmdVelCallback(const boost::shared_ptr<Curses>& terminal) :
       term(terminal) {}
 
     void operator()(const geometry_msgs::Twist::ConstPtr& msg) {
       term->update_topic(msg);
     }
-}; // class CmdVelCallback
+};
 
-class Run
-{
-  private:
+class Run {
+ private:
     std_msgs::Empty empty;
     ros::NodeHandle n;
     ros::Rate loop_rate;
     ros::Publisher cmd, pub_takeoff, pub_land, pub_reset;
     ros::Subscriber data_subscriber, cmdvel_subscriber;
-    void land() { pub_land.publish(empty); };
-    void takeoff() { pub_takeoff.publish(empty); };
-    void reset() { pub_reset.publish(empty); };
+    void land() { pub_land.publish(empty); }
+    void takeoff() { pub_takeoff.publish(empty); }
+    void reset() { pub_reset.publish(empty); }
     float x_speed, y_speed, z_speed, turn;
     boost::shared_ptr<Curses> term;
     NavdataCallback data_callback;
     CmdVelCallback cmdvel_callback;
 
-  public:
-    Run(const boost::shared_ptr<Curses>& terminal) :
-      data_callback(terminal),
-      cmdvel_callback(terminal),
-      term(terminal),
-      loop_rate(30),
-      x_speed(0.05),
-      y_speed(0.05),
-      z_speed(0.05),
-      turn(0.1) {
-        cmd =  n.advertise<geometry_msgs::Twist>("/cmd_vel",1);
-        pub_takeoff =  n.advertise<std_msgs::Empty>("/ardrone/takeoff", 1);
-        pub_land = n.advertise<std_msgs::Empty>("/ardrone/land", 1);
-        pub_reset = n.advertise<std_msgs::Empty>("/ardrone/reset", 1);
-        data_subscriber = n.subscribe<ardrone_autonomy::Navdata>("/ardrone/navdata", 1, data_callback);
-        cmdvel_subscriber = n.subscribe<geometry_msgs::Twist>("/cmd_vel", 1, cmdvel_callback);
+ public:
+    explicit Run(const boost::shared_ptr<Curses>& terminal) :
+        data_callback(terminal),
+        cmdvel_callback(terminal),
+        term(terminal),
+        loop_rate(30),
+        x_speed(0.1),
+        y_speed(0.1),
+        z_speed(0.1),
+        turn(0.1) {
+            cmd =  n.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
+            pub_takeoff =  n.advertise<std_msgs::Empty>("/ardrone/takeoff", 1);
+            pub_land = n.advertise<std_msgs::Empty>("/ardrone/land", 1);
+            pub_reset = n.advertise<std_msgs::Empty>("/ardrone/reset", 1);
 
-        term->update_cmd_speed('x', x_speed);
-        term->update_cmd_speed('y', y_speed);
-        term->update_cmd_speed('z', z_speed);
-        term->update_cmd_speed('t', turn);
+            data_subscriber =
+                n.subscribe<ardrone_autonomy::Navdata>(
+                    "/ardrone/navdata", 1, data_callback);
 
-        float a(0);
-        int s(0);
-        float time(0);
-        term->update_nav_data(a, s, time);
-      }
+            cmdvel_subscriber =
+                n.subscribe<geometry_msgs::Twist>(
+                    "/cmd_vel", 1, cmdvel_callback);
 
-    void operator()()
-    {
-      while (ros::ok())
-      {
-        ros::spinOnce();
+            term->update_cmd_speed('x', x_speed);
+            term->update_cmd_speed('y', y_speed);
+            term->update_cmd_speed('z', z_speed);
+            term->update_cmd_speed('t', turn);
 
-        geometry_msgs::Twist::Ptr msg(new geometry_msgs::Twist());
-        msg->linear.x = msg->linear.y = msg->linear.z =
-          msg->angular.x = msg->angular.y = msg->angular.z = 0.;
+            float a(0);
+            int s(0);
+            float time(0);
+            term->update_nav_data(a, s, time);
+    }
 
-        char c = term->getchar();
+    void operator()() {
+        while (ros::ok()) {
+            ros::spinOnce();
 
-        switch(c)
-        {
-          case 'k' :
-            {// hover
-              cmd.publish(msg);
-              term->log_sent("hover !");
-              break;
-            }
-          case 'i' :
-            {// forward
-              msg->linear.x = x_speed;
-              cmd.publish(msg);
-              term->log_sent("forward !");
-              break;
-            }
-          case ';' :
-            {// backward
-              msg->linear.x = -x_speed;
-              cmd.publish(msg);
-              term->log_sent("backward !");
-              break;
-            }
-          case 'h' :
-            {//translate left
-              msg->linear.y = -y_speed;
-              cmd.publish(msg);
-              term->log_sent("translate left !");
-              break;
-            }
-          case 'm' :
-            {//translate right
-              msg->linear.y = y_speed;
-              cmd.publish(msg);
-              term->log_sent("translate right !");
-              break;
-            }
-          case 'j' :
-            {//rotate left
-              msg->angular.z = turn;
-              cmd.publish(msg);
-              term->log_sent("rotate left !");
-              break;
-            }
-          case 'l' :
-            {//rotate right
-              msg->angular.z = -turn;
-              cmd.publish(msg);
-              term->log_sent("rotate right !");
-              break;
-            }
-          case 'u' :
-            {//turn left
-              msg->angular.z = turn;
-              msg->linear.x = x_speed;
-              cmd.publish(msg);
-              term->log_sent("forward left !");
-              break;
-            }
-          case 'o' :
-            {//turn right
-              msg->angular.z = -turn;
-              msg->linear.x = x_speed;
-              cmd.publish(msg);
-              term->log_sent("forward right !");
-              break;
-            }
-          case ',' :
-            {//turn left backward
-              msg->angular.z = turn;
-              msg->linear.x = -x_speed;
-              cmd.publish(msg);
-              term->log_sent("backward left !");
-              break;
-            }
-          case ':' :
-            {//turn right backward
-              msg->angular.z = -turn;
-              msg->linear.x = -x_speed;
-              cmd.publish(msg);
-              term->log_sent("backward right !");
-              break;
-            }
-          case 'y' :
-            {//up
-              msg->linear.z = z_speed;
-              cmd.publish(msg);
-              term->log_sent("up !");
-              break;
-            }
-          case 'n' :
-            {//down
-              msg->linear.z = -z_speed;
-              cmd.publish(msg);
-              term->log_sent("down !");
-              break;
-            }
-          case 't' :
-            {//takeoff
-              takeoff();
-              term->log_sent("takeoff !");
-              break;
-            }
-          case 'b' :
-            {//land
-              land();
-              term->log_sent("land !");
-              break;
-            }
-          case 'g' :
-            {//reset
-              reset();
-              term->log_sent("reset !");
-              break;
-            }
-          case 'a' :
-            {// + x_speed
-              x_speed *= 1.1;
-              term->update_cmd_speed('x', x_speed);
-              break;
-            }
-          case 'w' :
-            {// - x_speed
-              x_speed *= 0.9;
-              term->update_cmd_speed('x', x_speed);
-              break;
-            }
-          case 'z' :
-            {// + y_speed
-              y_speed *= 1.1;
-              term->update_cmd_speed('y', y_speed);
-              break;
-            }
-          case 'x' :
-            {// - y_speed
-              y_speed *= 0.9;
-              term->update_cmd_speed('y', y_speed);
-              break;
-            }
-          case 'e' :
-            {// + z_speed
-              z_speed *= 1.1;
-              term->update_cmd_speed('z', z_speed);
-              break;
-            }
-          case 'c' :
-            {// - z_speed
-              z_speed *= 0.9;
-              term->update_cmd_speed('z', z_speed);
-              break;
-            }
-          case 'r' :
-            {// + turn speed
-              turn *= 1.1;
-              term->update_cmd_speed('t', turn);
-              break;
-            }
-          case 'v' :
-            {// - turn speed
-              turn *= 0.9;
-              term->update_cmd_speed('t', turn);
-              break;
-            }
-          default :
-            {
-              cmd.publish(msg);
-              term->log_sent("hover !");
-            }
-        } // switch(c)
-        loop_rate.sleep();
-      } // while
-    } //void run()
+            geometry_msgs::Twist::Ptr msg(new geometry_msgs::Twist());
+            msg->linear.x = msg->linear.y = msg->linear.z =
+            msg->angular.x = msg->angular.y = msg->angular.z = 0.;
 
-}; // class Run
+            char c = term->getchar();
 
-int main(int argc, char** argv)
-{
-  setlocale(LC_ALL, "");
-  ros::init(argc, argv, "keyboard_cmd");
-  boost::shared_ptr<Curses> term(new Curses());
-  Run fun(term);
-  fun();
-  return 0;
-} // main
+            switch (c) {
+                case 'k' : {  // hover
+                    cmd.publish(msg);
+                    term->log_sent("hover !");
+                    break;
+                }
+                case 'i' : {  // forward
+                    msg->linear.x = x_speed;
+                    cmd.publish(msg);
+                    term->log_sent("forward !");
+                    break;
+                }
+                case ';' : {  // backward
+                    msg->linear.x = -x_speed;
+                    cmd.publish(msg);
+                    term->log_sent("backward !");
+                    break;
+                }
+                case 'h' : {  // translate left
+                    msg->linear.y = -y_speed;
+                    cmd.publish(msg);
+                    term->log_sent("translate left !");
+                    break;
+                }
+                case 'm' : {  // translate right
+                    msg->linear.y = y_speed;
+                    cmd.publish(msg);
+                    term->log_sent("translate right !");
+                    break;
+                }
+                case 'j' : {  // rotate left
+                    msg->angular.z = turn;
+                    cmd.publish(msg);
+                    term->log_sent("rotate left !");
+                    break;
+                }
+                case 'l' : {  // rotate right
+                    msg->angular.z = -turn;
+                    cmd.publish(msg);
+                    term->log_sent("rotate right !");
+                    break;
+                }
+                case 'u' : {  // turn left
+                    msg->angular.z = turn;
+                    msg->linear.x = x_speed;
+                    cmd.publish(msg);
+                    term->log_sent("forward left !");
+                    break;
+                }
+                case 'o' : {  // turn right
+                    msg->angular.z = -turn;
+                    msg->linear.x = x_speed;
+                    cmd.publish(msg);
+                    term->log_sent("forward right !");
+                    break;
+                }
+                case ',' : {  // turn left backward
+                    msg->angular.z = turn;
+                    msg->linear.x = -x_speed;
+                    cmd.publish(msg);
+                    term->log_sent("backward left !");
+                    break;
+                }
+                case ':' : {  // turn right backward
+                    msg->angular.z = -turn;
+                    msg->linear.x = -x_speed;
+                    cmd.publish(msg);
+                    term->log_sent("backward right !");
+                    break;
+                }
+                case 'y' : {  // up
+                    msg->linear.z = z_speed;
+                    cmd.publish(msg);
+                    term->log_sent("up !");
+                    break;
+                }
+                case 'n' : {  // down
+                    msg->linear.z = -z_speed;
+                    cmd.publish(msg);
+                    term->log_sent("down !");
+                    break;
+                }
+                case 't' : {  // takeoff
+                    takeoff();
+                    term->log_sent("takeoff !");
+                    break;
+                }
+                case 'b' : {  // land
+                    land();
+                    term->log_sent("land !");
+                    break;
+                }
+                case 'g' : {  // reset
+                    reset();
+                    term->log_sent("reset !");
+                    break;
+                }
+                case 'a' : {  // + x_speed
+                    x_speed *= 1.1;
+                    term->update_cmd_speed('x', x_speed);
+                    break;
+                }
+                case 'w' : {  // - x_speed
+                    x_speed *= 0.9;
+                    term->update_cmd_speed('x', x_speed);
+                    break;
+                }
+                case 'z' : {  // + y_speed
+                    y_speed *= 1.1;
+                    term->update_cmd_speed('y', y_speed);
+                    break;
+                }
+                case 'x' : {  // - y_speed
+                    y_speed *= 0.9;
+                    term->update_cmd_speed('y', y_speed);
+                    break;
+                }
+                case 'e' : {  // + z_speed
+                    z_speed *= 1.1;
+                    term->update_cmd_speed('z', z_speed);
+                    break;
+                }
+                case 'c' : {  // - z_speed
+                    z_speed *= 0.9;
+                    term->update_cmd_speed('z', z_speed);
+                    break;
+                }
+                case 'r' : {  // + turn speed
+                    turn *= 1.1;
+                    term->update_cmd_speed('t', turn);
+                    break;
+                }
+                case 'v' : {  // - turn speed
+                    turn *= 0.9;
+                    term->update_cmd_speed('t', turn);
+                    break;
+                }
+                default : {
+                    cmd.publish(msg);
+                    term->log_sent("hover !");
+                }
+            }  // switch(c)
+            loop_rate.sleep();
+        }  // while
+    }  // void run()
+};  // class Run
 
+int main(int argc, char** argv) {
+    setlocale(LC_ALL, "");
+    ros::init(argc, argv, "keyboard_cmd");
+    boost::shared_ptr<Curses> term(new Curses());
+    Run fun(term);
+    fun();
+    return 0;
+}

src/pcl_displayer.cpp

@@ -1,48 +0,0 @@
-#include <ros/ros.h>
-#include <pcl_ros/point_cloud.h>
-#include <pcl/point_types.h>
-
-#include <iostream>
-#include <string>
-#include <sstream>
-
-typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
-
-class Callback {
-  public:
-    void
-      operator()(const PointCloud::ConstPtr& msg)
-      {
-        std::ostringstream stream;
-        stream << "PointCloud published :" << std::endl;
-        for(int i = 0; i < msg->points.size(); ++i)
-        {
-          pcl::PointXYZRGB p = msg->points[i];
-          stream << std::endl
-            << "point # " << i << std::endl
-            << "x : " << p.x << std::endl
-            << "y : " << p.y << std::endl
-            << "z : " << p.z << std::endl
-            << "r : " << (int) p.r << std::endl
-            << "g : " << (int) p.g << std::endl
-            << "b : " << (int) p.b << std::endl;
-        }
-          ROS_INFO("%s", stream.str().c_str());
-      }
-};
-
-  int
-main(int argc, char** argv)
-{
-  ros::init(argc, argv, "pcl_displayer");
-  ros::NodeHandle node;
-
-  // initialisation
-  ros::Subscriber subscriber = node.subscribe<PointCloud>("input", 1, Callback());
-
-  // démarrage
-  ROS_INFO("node started");
-  ros::spin();
-  ROS_INFO("exit");
-  return 0;
-}

src/random_pcl_publisher.cpp

@@ -1,103 +0,0 @@
-#include <ros/ros.h>
-#include <time.h>
-#include <pcl_ros/point_cloud.h>
-#include <pcl/point_types.h>
-// for UniformGenerator
-#include <pcl/common/random.h>
-// for CloudGenerator
-#include <pcl/common/generate.h>
-
-typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
-typedef pcl::common::UniformGenerator<float> UGenerator;
-
-class Generator
-{
-  public:
-    Generator(int len, double m, double M)
-    : length(len), min(m), max(M), cgen(), number(0)
-    {
-      UGenerator::Parameters params(min, max, -1);
-      cgen.setParameters(params);
-    }
-
-    PointCloud::Ptr
-    operator()()
-    {
-      PointCloud::Ptr pcl(new PointCloud());
-      cgen.fill(length, length, *pcl);
-      for (int i = 0; i < pcl->points.size(); ++i)
-      {
-        pcl->points[i].r = (uint8_t) 175;
-        pcl->points[i].g = (uint8_t) 120;
-        pcl->points[i].b = (uint8_t) 118;
-      }
-      ros::Time now = ros::Time::now();
-      pcl->header.stamp =  now.toNSec() / 1000;
-      pcl->header.seq = number++;
-      pcl->header.frame_id = "0";
-      return pcl;
-    }
-
-  private:
-    pcl::common::CloudGenerator<pcl::PointXYZRGB, UGenerator> cgen;
-    int length;
-    double min, max;
-    uint32_t number;
-};
-
-int
-main(int argc, char** argv)
-{
-  ros::init(argc, argv, "random_pcl_publisher");
-  ros::NodeHandle node("random");
-  // paramètres
-  double freq;
-  if (node.getParam("freq", freq))
-  {
-    ROS_INFO("freq : %f" , freq);
-  } else {
-    node.setParam("freq", 10);
-    node.getParam("freq", freq);
-    ROS_INFO("freq : %f (default value)", freq);
-  }
-  double min, max;
-  if (node.getParam("min", min))
-  {
-    ROS_INFO("min : %f" , min);
-  } else {
-    node.setParam("min", 0.);
-    node.getParam("min", min);
-    ROS_INFO("min : %f (default value)", min);
-  }
-  if (node.getParam("max", max))
-  {
-    ROS_INFO("max : %f" , max);
-  } else {
-    node.setParam("max", 100.);
-    node.getParam("max", max);
-    ROS_INFO("max : %f (default value)", max);
-  }
-  int length;
-  if (node.getParam("length", length))
-  {
-    ROS_INFO("length : %d" , length);
-  } else {
-    node.setParam("length", 10);
-    node.getParam("length", length);
-    ROS_INFO("length : %d (default value)", length);
-  }
-  // initialisation
-  ros::Publisher  publisher = node.advertise<PointCloud>("output", 1);
-  Generator generator(length, min, max);
-  ros::Rate loop_rate(freq);
-  ROS_INFO("node started");
-  while (ros::ok())
-  {
-    publisher.publish(generator());
-    ROS_INFO("random PointCloud published");
-    ros::spinOnce();
-    loop_rate.sleep();
-  }
-  ROS_INFO("exit");
-  return 0;
-}