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Created Apr 12, 2018
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import rospy
import thread
import sys
import math
from mavros_msgs.msg import RCIn
from clever import srv
from time import sleep
from mavros_msgs.srv import SetMode
from mavros_msgs.srv import CommandBool
states = ('start','stop','unknown')
state = states[2]
navigate = rospy.ServiceProxy('/navigate', srv.Navigate)
set_mode = rospy.ServiceProxy('/mavros/set_mode', SetMode)
get_telemetry = rospy.ServiceProxy('/get_telemetry', srv.GetTelemetry)
arming = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool)
def get_distance(x1, y1, z1, x2, y2, z2):
return math.sqrt((x1-x2)**2 + (y1-y2)**2 +(z1-z2)**2)
def takeoff (zp, sp = 1, tolerance = 0.2):
start = get_telemetry()
print navigate(z=zp, speed=sp, frame_id='fcu_horiz', auto_arm=True)
while True:
telem = get_telemetry()
delta = abs(abs(telem.z - start.z)-zp)
if delta < tolerance:
def land(sp = 1, land_height = -1, tolerance = 0.25):
print 'land!'
z0 = get_telemetry(frame_id='local_origin').z
print z0
h = get_telemetry(frame_id='aruco_map').z
print h
print navigate(z=-h+land_height, speed=sp, frame_id='fcu_horiz')
while True:
z = get_telemetry(frame_id='local_origin').z
delta = z0-z-h
print delta
if (abs(delta) < tolerance):
print get_telemetry(frame_id='local_origin')
def flight_to_point(xp, yp, zp, sp = 1, breakable = True, tolerance = 0.2, constant_yaw = True):
frame_id = 'aruco_map'
if constant_yaw:
current_yaw = get_telemetry(frame_id = 'aruco_map').yaw
print navigate(frame_id=frame_id, x=xp, y=yp, z=zp, speed=sp, yaw = current_yaw)
print navigate(frame_id=frame_id, x=xp, y=yp, z=zp, speed=sp)
while True:
if breakable and state == 'stop':
telem = get_telemetry(frame_id=frame_id)
if get_distance(xp, yp, zp, telem.x, telem.y, telem.z) < tolerance:
# copter parameters
speed = 1
z = 1
# rectangle parameters
width = 1
height = 1
x0 = 0.1
y0 = 0.6
# flight program
def flight_program (param):
while True:
global state
print 'waiting for stop!'
while state != 'stop':
print 'waiting for start...'
while state == 'stop':
print 'start!'
takeoff(z) #takeoff
flight_to_point(x0, y0, z, speed)
while True:
flight_to_point(x0, y0 + height, z, speed)
flight_to_point(x0 + width, y0 + height, z, speed)
flight_to_point(x0 + width, y0, z, speed)
flight_to_point(x0, y0, z, speed, breakable = False)
if state == 'stop':
# Вызывается при обновлении данных из топика
def callback(data):
global state
# Обрабатываем данные с 6 канала пульта
if data.channels[5] < 1100:
state = states[1]
elif data.channels[5] > 1900:
state = states[0]
state = states[2]
def listener():
# In ROS, nodes are uniquely named. If two nodes with the same
# name are launched, the previous one is kicked off. The
# anonymous=True flag means that rospy will choose a unique
# name for our 'listener' node so that multiple listeners can
# run simultaneously.
rospy.Subscriber('mavros/rc/in', RCIn, callback)
# spin() simply keeps python from exiting until this node is stopped
param = []
thread.start_new_thread(flight_program, (param,))
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