sem/5g_drone_ROS2
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add controls info

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Sem van der Hoeven
2023-05-03 14:12:09 +02:00
parent 1b48c1d4b7
commit 4fd44cec46
1 changed files with 5 additions and 3 deletions
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8
src/test_controls/test_controls/test_controller.py
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@@ -11,11 +11,13 @@ class TestController(Node):
def __init__(self):
super().__init__('test_controller')
# self.cli = self.create_client(SetAttitude, 'drone/set_attitude')
# while not self.cli.wait_for_service(timeout_sec=1.0):
# self.get_logger().info('service not available, waiting again...')
self.cli = self.create_client(SetAttitude, 'drone/set_attitude')
while not self.cli.wait_for_service(timeout_sec=1.0):
self.get_logger().info('service not available, waiting again...')
self.req = SetAttitude.Request()
self.get_logger().info("Controls:\nW - forward\nS - backward\nA - left\nD - right\nQ - rotate left\nE - rotate right\nSpace - up\nShift - down\nEsc - exit")
def spin(self):
with keyboard.Listener(on_press=self.on_press, on_release=self.on_release) as listener:
while rclpy.ok() and listener.running: