ros-pilot-simple.py

#!/usr/bin/env python

# ROS
import rospy
from mavros_msgs.srv import SetMode
from mavros_msgs.srv import CommandBool

# 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(5)

# 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)