sem/5g_drone_ROS2
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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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1
src/drone_services/CMakeLists.txt
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@@ -25,6 +25,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"srv/SetVelocity.srv" "srv/SetVelocity.srv"
"srv/TakePicture.srv" "srv/TakePicture.srv"
"srv/SetVehicleControl.srv" "srv/SetVehicleControl.srv"
"msg/DroneControlMode.msg"
) )
if(BUILD_TESTING) if(BUILD_TESTING)

1
src/drone_services/msg/DroneControlMode.msg Normal file
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@@ -0,0 +1 @@
int32 mode

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 import asyncio
from drone_services.srv import SetAttitude from drone_services.srv import SetAttitude
from drone_services.srv import SetVehicleControl
class TestController(Node): class TestController(Node):
@@ -13,7 +14,8 @@ class TestController(Node):
super().__init__('test_controller') super().__init__('test_controller')
self.cli = self.create_client(SetAttitude, 'drone/set_attitude') self.cli = self.create_client(SetAttitude, 'drone/set_attitude')
while not self.cli.wait_for_service(timeout_sec=1.0): 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.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") 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")