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add drone control mode message definition

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Sem van der Hoeven
2023-05-11 14:02:24 +02:00
parent 89a37a8f9c
commit 5424cfb3f4
3 changed files with 5 additions and 1 deletions
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4
src/test_controls/test_controls/test_controller.py
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@@ -5,6 +5,7 @@ from sshkeyboard import listen_keyboard_manual
import asyncio
from drone_services.srv import SetAttitude
from drone_services.srv import SetVehicleControl
class TestController(Node):
@@ -13,7 +14,8 @@ class TestController(Node):
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.get_logger().info('set attitude service not available, waiting again...')
self.vehicle_control_cli = self.create_client(SetVehicleControl, 'drone/set_vehicle_control')
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\nZ - down\nV - Down nudge\nF - Up nudge\nN - emergency stop\nEsc - exit")