Added wrapper for the move by command.

bebop_driver/cfg/autogenerated/BebopArdrone3.cfg

@@ -135,4 +135,4 @@ gpssettings_group_gen.add("GPSSettingsHomeTypeType", int_t, 0, "The type of the
 gpssettings_group_gen.add("GPSSettingsReturnHomeDelayDelay", int_t, 0, "Delay in second", 0 , 0, 120)
 
 
-exit(gen.generate(PACKAGE, "bebop_driver_nodelet", "BebopArdrone3"))
+exit(gen.generate(PACKAGE, "bebop_driver_nodelet", "BebopArdrone3"))

bebop_driver/include/bebop_driver/autogenerated/ardrone3_state_callbacks.h

@@ -870,6 +870,12 @@ class Ardrone3PilotingStateAltitudeChanged : public AbstractState
 
 };  // Ardrone3PilotingStateAltitudeChanged
 
+// Relative move ended.\n Informs about the move that the drone managed to do and why it stopped.
+class Ardrone3RelativeMoveEnded : public AbstractState
+{
+
+};  // Ardrone3RelativeMoveEnded
+
 
 // Drones location changed.\n This event is meant to replace [PositionChanged](#1-4-4).
 class Ardrone3PilotingStateGpsLocationChanged : public AbstractState
@@ -1991,4 +1997,4 @@ class Ardrone3PROStateFeatures : public AbstractState
 
 }  // namespace cb
 }  // namespace bebop_driver
-#endif  // BEBOP_AUTONOMY_AUTOGENERATED_ardrone3_STATE_CALLBACKS_H
+#endif  // BEBOP_AUTONOMY_AUTOGENERATED_ardrone3_STATE_CALLBACKS_H

bebop_driver/include/bebop_driver/bebop.h

@@ -170,9 +170,16 @@ class Bebop
 
   // -1..1
   void Move(const double& roll, const double& pitch, const double& gaz_speed, const double& yaw_speed);
+  void MoveBy(const float& dX, const float& dY, const float& dZ, const float& dPsi);
   void MoveCamera(const double& tilt, const double& pan);
 
   void TakeSnapshot();
+
+  /**
+   * @brief Set the format of the taken pictures
+   * @param format 0: Raw image, 1: 4:3 jpeg photo, 2: 16:9 snapshot from camera, 3: jpeg fisheye image only
+   */
+  void SetPictureFormat(const int& format);
   // exposure should be between -3.0 and +3.0
   void SetExposure(const float& exposure);
   // true: start, false: stop

bebop_driver/include/bebop_driver/bebop_driver_nodelet.h

@@ -111,6 +111,7 @@ class BebopDriverNodelet : public nodelet::Nodelet
   geometry_msgs::Twist prev_camera_twist_;
 
   ros::Subscriber cmd_vel_sub_;
+  ros::Subscriber cmd_move_by;
   ros::Subscriber camera_move_sub_;
   ros::Subscriber takeoff_sub_;
   ros::Subscriber land_sub_;
@@ -122,6 +123,7 @@ class BebopDriverNodelet : public nodelet::Nodelet
   ros::Subscriber stop_autoflight_sub_;
   ros::Subscriber animation_sub_;
   ros::Subscriber snapshot_sub_;
+  ros::Subscriber setpictureformat_sub;
   ros::Subscriber exposure_sub_;
   ros::Subscriber toggle_recording_sub_;
 
@@ -151,6 +153,7 @@ class BebopDriverNodelet : public nodelet::Nodelet
   void AuxThread();
 
   void CmdVelCallback(const geometry_msgs::TwistConstPtr& twist_ptr);
+  void CmdMoveByCallback(const geometry_msgs::TwistConstPtr& twist_ptr);
   void CameraMoveCallback(const geometry_msgs::TwistConstPtr& twist_ptr);
   void TakeoffCallback(const std_msgs::EmptyConstPtr& empty_ptr);
   void LandCallback(const std_msgs::EmptyConstPtr& empty_ptr);
@@ -162,6 +165,7 @@ class BebopDriverNodelet : public nodelet::Nodelet
   void StopAutonomousFlightCallback(const std_msgs::EmptyConstPtr& empty_ptr);
   void FlipAnimationCallback(const std_msgs::UInt8ConstPtr& animid_ptr);
   void TakeSnapshotCallback(const std_msgs::EmptyConstPtr& empty_ptr);
+  void SetPictureFormatCallback(const std_msgs::UInt8ConstPtr &format_ptr);
   void SetExposureCallback(const std_msgs::Float32ConstPtr& exposure_ptr);
   void ToggleRecordingCallback(const std_msgs::BoolConstPtr& toggle_ptr);
 

bebop_driver/scripts/meta/templates/cfg.mustache

@@ -32,4 +32,4 @@ gen = ParameterGenerator()
 
 {{/cfg_class}}
 
-exit(gen.generate(PACKAGE, "bebop_driver_nodelet", "Bebop{{project}}"))
+exit(gen.generate(PACKAGE, "bebop_driver_nodelet", "Bebop{{project}}"))

bebop_driver/src/bebop.cpp

@@ -549,6 +549,20 @@ void Bebop::Move(const double &roll, const double &pitch, const double &gaz_spee
   }
 }
 
+
+void Bebop::MoveBy(const float& dX, const float& dY, const float& dZ, const float& dPsi)
+{
+  ThrowOnInternalError("MoveBy failure");
+
+  ThrowOnCtrlError(
+        device_controller_ptr_->aRDrone3->sendPilotingMoveBy(
+          device_controller_ptr_->aRDrone3,
+          static_cast<float>(dX),
+          static_cast<float>(dY),
+          static_cast<float>(dZ),
+          static_cast<float>(dPsi)));
+}
+
 // in degrees
 void Bebop::MoveCamera(const double &tilt, const double &pan)
 {
@@ -607,6 +621,18 @@ void Bebop::TakeSnapshot()
           device_controller_ptr_->aRDrone3));
 }
 
+/**
+ * @brief Set the format of the taken pictures
+ * @param format 0: Raw image, 1: 4:3 jpeg photo, 2: 16:9 snapshot from camera, 3: jpeg fisheye image only
+ */
+void Bebop::SetPictureFormat(const int& format)
+{
+  ThrowOnInternalError("Failed to set picture format");
+  ThrowOnCtrlError(
+    device_controller_ptr_->aRDrone3->sendPictureSettingsPictureFormatSelection(
+          device_controller_ptr_->aRDrone3, (eARCOMMANDS_ARDRONE3_PICTURESETTINGS_PICTUREFORMATSELECTION_TYPE)format));
+}
+
 void Bebop::SetExposure(const float& exposure)
 {
   ThrowOnInternalError("Failed to set exposure");

bebop_driver/src/bebop_driver_nodelet.cpp

@@ -31,6 +31,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <tf2_ros/transform_broadcaster.h>
 #include <sensor_msgs/NavSatFix.h>
+#include <std_msgs/UInt8.h>
 
 #include <boost/bind.hpp>
 #include <boost/make_shared.hpp>
@@ -133,6 +134,7 @@ void BebopDriverNodelet::onInit()
   }
 
   cmd_vel_sub_ = nh.subscribe("cmd_vel", 1, &BebopDriverNodelet::CmdVelCallback, this);
+  cmd_move_by = nh.subscribe("cmd_move_by", 1, &BebopDriverNodelet::CmdMoveByCallback, this);
   camera_move_sub_ = nh.subscribe("camera_control", 1, &BebopDriverNodelet::CameraMoveCallback, this);
   takeoff_sub_ = nh.subscribe("takeoff", 1, &BebopDriverNodelet::TakeoffCallback, this);
   land_sub_ = nh.subscribe("land", 1, &BebopDriverNodelet::LandCallback, this);
@@ -144,6 +146,7 @@ void BebopDriverNodelet::onInit()
   stop_autoflight_sub_ = nh.subscribe("autoflight/stop", 1, &BebopDriverNodelet::StopAutonomousFlightCallback, this);
   animation_sub_ = nh.subscribe("flip", 1, &BebopDriverNodelet::FlipAnimationCallback, this);
   snapshot_sub_ = nh.subscribe("snapshot", 10, &BebopDriverNodelet::TakeSnapshotCallback, this);
+  setpictureformat_sub = nh.subscribe("set_picture_format", 1, &BebopDriverNodelet::SetPictureFormatCallback, this);
   exposure_sub_ = nh.subscribe("set_exposure", 10, &BebopDriverNodelet::SetExposureCallback, this);
   toggle_recording_sub_ = nh.subscribe("record", 10, &BebopDriverNodelet::ToggleRecordingCallback, this);
 
@@ -232,6 +235,23 @@ void BebopDriverNodelet::CmdVelCallback(const geometry_msgs::TwistConstPtr& twis
   }
 }
 
+void BebopDriverNodelet::CmdMoveByCallback(const geometry_msgs::TwistConstPtr& twist_ptr)
+{
+	try
+	{
+		const geometry_msgs::Twist& bebop_twist_ = *twist_ptr;
+
+		bebop_ptr_->MoveBy(bebop_twist_.linear.x,
+											 bebop_twist_.linear.y,
+											 bebop_twist_.linear.z,
+											 bebop_twist_.angular.z);
+	}
+	catch (const std::runtime_error& e)
+	{
+		ROS_ERROR_STREAM(e.what());
+	}
+}
+
 void BebopDriverNodelet::TakeoffCallback(const std_msgs::EmptyConstPtr& empty_ptr)
 {
   try
@@ -392,6 +412,19 @@ void BebopDriverNodelet::TakeSnapshotCallback(const std_msgs::EmptyConstPtr &emp
   }
 }
 
+void BebopDriverNodelet::SetPictureFormatCallback(const std_msgs::UInt8ConstPtr& format_ptr)
+{
+  try
+  {
+    ROS_INFO("Setting picture format to %f", format_ptr->data);
+    bebop_ptr_->SetPictureFormat(format_ptr->data);
+  }
+  catch (const std::runtime_error& e)
+  {
+    ROS_ERROR_STREAM(e.what());
+  }
+}
+
 void BebopDriverNodelet::SetExposureCallback(const std_msgs::Float32ConstPtr& exposure_ptr)
 {
   try

bebop_driver/src/bebop_video_decoder.cpp

@@ -133,7 +133,7 @@ bool VideoDecoder::ReallocateBuffers()
                      boost::lexical_cast<std::string>(codec_ctx_ptr_->width) +
                      " x " + boost::lexical_cast<std::string>(codec_ctx_ptr_->width));
 
-    const uint32_t num_bytes = avpicture_get_size(PIX_FMT_RGB24, codec_ctx_ptr_->width, codec_ctx_ptr_->width);
+    const uint32_t num_bytes = avpicture_get_size(AV_PIX_FMT_RGB24, codec_ctx_ptr_->width, codec_ctx_ptr_->width);
     frame_rgb_ptr_ = av_frame_alloc();
 
     ThrowOnCondition(!frame_rgb_ptr_, "Can not allocate memory for frames!");
@@ -143,12 +143,12 @@ bool VideoDecoder::ReallocateBuffers()
                      std::string("Can not allocate memory for the buffer: ") +
                      boost::lexical_cast<std::string>(num_bytes));
     ThrowOnCondition(0 == avpicture_fill(
-                       reinterpret_cast<AVPicture*>(frame_rgb_ptr_), frame_rgb_raw_ptr_, PIX_FMT_RGB24,
+                       reinterpret_cast<AVPicture*>(frame_rgb_ptr_), frame_rgb_raw_ptr_, AV_PIX_FMT_RGB24,
                        codec_ctx_ptr_->width, codec_ctx_ptr_->height),
                      "Failed to initialize the picture data structure.");
 
     img_convert_ctx_ptr_ = sws_getContext(codec_ctx_ptr_->width, codec_ctx_ptr_->height, codec_ctx_ptr_->pix_fmt,
-                                          codec_ctx_ptr_->width, codec_ctx_ptr_->height, PIX_FMT_RGB24,
+                                          codec_ctx_ptr_->width, codec_ctx_ptr_->height, AV_PIX_FMT_RGB24,
                                           SWS_FAST_BILINEAR, NULL, NULL, NULL);
   }
   catch (const std::runtime_error& e)