Merge branch 'feature/usb-record' into develop

README.md

@@ -34,6 +34,9 @@ Once everything is up and running you should see a window with the front camera
 * Left Joystick: Pitch and Roll
 * Right Joystick: Altitude and Yaw
 
+### More Buttons
+* Center PS3 Button: Toggle recording to USB stick
+
 ## License
 
 Copyright (c) 2012, Falkor Systems, Inc.

nodes/ardrone_follow.py

@@ -39,13 +39,18 @@ from std_msgs.msg import Empty
 from sensor_msgs.msg import Joy, Image
 from ardrone_autonomy.msg import Navdata
 from ardrone_autonomy.srv import LedAnim
+from ardrone_autonomy.srv import RecordEnable
+import std_srvs.srv
 
 class ArdroneFollow:
     def __init__( self ):
         print "waiting for driver to startup"
         rospy.wait_for_service( "ardrone/setledanimation" )
+        rospy.wait_for_service( "ardrone/setrecord" )
         print "driver started"
         self.led_service = rospy.ServiceProxy( "ardrone/setledanimation", LedAnim )
+        self.record_service = rospy.ServiceProxy( "ardrone/setrecord", RecordEnable )
+        self.recording = False
 
         self.tracker_sub = rospy.Subscriber( "ardrone_tracker/found_point",
                                              Point, self.found_point_cb )
@@ -103,8 +108,15 @@ class ArdroneFollow:
                         8: 'Landing',
                         9: 'Looping' }
 
+
+
         cv2.namedWindow( 'AR.Drone Follow', cv2.cv.CV_WINDOW_NORMAL )
 
+    def toggle_record( self ):
+        self.recording = not self.recording
+        
+        self.record_service( enable = self.recording )
+
     def navdata_cb( self, data ):
         self.navdata = data
 
@@ -133,6 +145,9 @@ class ArdroneFollow:
         if data.buttons[14] == 1 and self.last_buttons[14] == 0:
             self.land()
 
+        if data.buttons[16] == 1 and self.last_buttons[16] == 0:
+            self.toggle_record()
+
         if data.buttons[13] == 1 and self.last_buttons[13] == 0:
             self.reset()
 
@@ -262,6 +277,9 @@ class ArdroneFollow:
         if self.auto_cmd:
             self.put_text( vis, 'TRACKING', ( 150, 300 ) ) 
 
+        if self.recording:
+            self.put_text( vis, 'RECORDING', ( 150, 320 ) )
+
         cv2.imshow( 'AR.Drone Follow', vis )
         cv2.waitKey( 1 )
 
@@ -308,6 +326,7 @@ def main():
         rospy.spin()
     except KeyboardInterrupt:
         print "Keyboard interrupted"
+        af.usb_service()
 
 if __name__ == '__main__':
     main()