ros-pilot-advanced.py

#!/usr/bin/env python

# ROS
import rospy
from mavros_msgs.msg import OverrideRCIn
from mavros_msgs.srv import SetMode
from mavros_msgs.srv import CommandBool
from mavros_msgs.srv import CommandTOL

# System
import time

rospy.init_node('rosimple_node', anonymous = True)

# Set Mode
print("SET MODE")
rospy.wait_for_service('/mavros/set_mode')
try:
    modeService = rospy.ServiceProxy('/mavros/set_mode', SetMode)
    modeResponse = modeService(0, 'STABILIZE')
    rospy.loginfo(modeResponse)
except rospy.ServiceException as e:
    print("Service call failed: %s" %e)

# Arm
print("ARM")
rospy.wait_for_service('/mavros/cmd/arming')
try:
    armService = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool)
    armResponse = armService(True)
    rospy.loginfo(armResponse)
except rospy.ServiceException as e:
    print("Service call failed: %s" %e)

time.sleep(3)


# TAKEOFF
print("TAKEOFF")
pub = rospy.Publisher('mavros/rc/override', OverrideRCIn, queue_size = 10)
r = rospy.Rate(10) #10hz
msg = OverrideRCIn()
start = time.time()
exec_time = 4
flag = True

steer_channel = 0 # roll/steer movement
pitch_channel = 1 # pitch movement
throttle_channel = 2 # throttle up/down movement
yaw_channel = 3 # yaw movement

speed = 'SLOW'
if speed == 'SLOW':
    msg.channels[throttle_channel] = 1558
elif speed == 'NORMAL':
    msg.channels[throttle_channel] = 1565
elif speed == 'FAST':
    msg.channels[throttle_channel] = 1570

direction = 'STRAIGHT'
if direction == 'STRAIGHT':
    msg.channels[steer_channel] = 1385
elif direction == 'RIGHT':
    msg.channels[steer_channel] = 1450
elif direction == 'LEFT':
    msg.channels[steer_channel] = 1300

while not rospy.is_shutdown() and flag:
    sample_time = time.time()
    if ((sample_time - start) > exec_time):
        flag = False

    rospy.loginfo(msg)
    pub.publish(msg)
    r.sleep()

time.sleep(2)

# LAND
print("LAND")
msg.channels[steer_channel] = 1100
msg.channels[throttle_channel] = 1100
msg.channels[yaw_channel] = 0
rospy.loginfo(msg)
pub.publish(msg)


# Disarm
print("DISARM")
rospy.wait_for_service('/mavros/cmd/arming')
try:
    armService = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool)
    armService(False)
except rospy.ServiceException as e:
    print("Service call failed: %s" %e)

why drone doesn't take off?

How can I install MAVROS and how can I do a test?

why drone doesn't take off?

Did you fix it?