optical_flow_node_replacer.py is a ros node that can be used instead of the optical_flow_node in pidrone_pkg/scripts to publish a zero velocity and fly with no camera.

optical_flow_node_replacer.py

#!/usr/bin/env python3

"""
optical_flow_node_replacer.py is a ros node that can be used instead of the optical_flow_node in pidrone_pkg/scripts to publish a zero velocity and fly with no camera.
JoshuaPhelps127@gmail.com  2023-03-10
"""

import rospy
from geometry_msgs.msg import TwistStamped


class OpticalFlowNode(object):
    def __init__(self, node_name):

        rospy.init_node(node_name)
        self.twistpub = rospy.Publisher('/pidrone/picamera/twist', TwistStamped, queue_size=1)

    
def main():
    optical_flow_node = OpticalFlowNode("optical_flow_node")
    r = rospy.Rate(25)
    print("starting to publish 0 velocity to /pidrone/picamera/twist")
    while not rospy.is_shutdown():
        twist_msg = TwistStamped()
        twist_msg.header.stamp = rospy.Time.now()
        twist_msg.twist.linear.x = 0
        twist_msg.twist.linear.y = 0
        optical_flow_node.twistpub.publish(twist_msg)
        r.sleep()

if __name__ == '__main__':
    main()