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April 12, 2018 17:22
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#!/usr/bin/python | |
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] | |
rospy.init_node('Clever3_RC_Script') | |
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: | |
break | |
rospy.sleep(0.2) | |
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') | |
arming(False) | |
break | |
rospy.sleep(0.2) | |
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) | |
else: | |
print navigate(frame_id=frame_id, x=xp, y=yp, z=zp, speed=sp) | |
while True: | |
if breakable and state == 'stop': | |
return | |
telem = get_telemetry(frame_id=frame_id) | |
if get_distance(xp, yp, zp, telem.x, telem.y, telem.z) < tolerance: | |
break | |
rospy.sleep(0.2) | |
# 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': | |
rospy.sleep(0.1) | |
print 'waiting for start...' | |
while state == 'stop': | |
rospy.sleep(0.1) | |
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': | |
break | |
land() | |
# 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] | |
else: | |
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 | |
rospy.spin() | |
param = [] | |
thread.start_new_thread(flight_program, (param,)) | |
listener() |
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