From 4257b90da77f5e2f369cba371bfb8b59d5aeb295 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Fri, 12 May 2023 17:45:08 +0200 Subject: [PATCH] remove arming --- src/test_controls/test_controls/test_controller.py | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/test_controls/test_controls/test_controller.py b/src/test_controls/test_controls/test_controller.py index bae28a52..d416d1b9 100644 --- a/src/test_controls/test_controls/test_controller.py +++ b/src/test_controls/test_controls/test_controller.py @@ -7,7 +7,6 @@ import asyncio from drone_services.srv import SetAttitude from drone_services.srv import SetTrajectory from drone_services.srv import SetVehicleControl -from std_msgs.msg import Empty class TestController(Node): @@ -29,8 +28,6 @@ class TestController(Node): self.vehicle_control_req = SetVehicleControl.Request() self.traj_req = SetTrajectory.Request() - self.arm_publisher = self.create_publisher(Empty, '/drone/arm', 10) - self.get_logger().info("\nControls:\n1 - Attitude control\n2 - Velocity control\n3 - Position control\n/ - Arm drone\nW - forward\nS - backward\nA - left\nD - right\nQ - rotate left\nE - rotate right\nSpace - up\nZ - down\nV - Down nudge\nF - Up nudge\nN - emergency stop\nEsc - exit") def spin(self): @@ -230,7 +227,7 @@ class TestController(Node): self.send_control_mode() if key == '/': self.get_logger().info('arming') - self.arm_publisher.publish(Empty()) + except Exception as e: self.get_logger().error(str(e))