Created
September 8, 2017 10:10
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#!/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) |
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How can I install MAVROS and how can I do a test?
Did you fix it?