sem/5g_drone_ROS2
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Sem van der Hoeven
2023-05-12 17:42:02 +02:00
parent fa16f6e304
commit 5654e44088
1 changed files with 2 additions and 1 deletions
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src/test_controls/test_controls/test_controller.py
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@@ -31,7 +31,7 @@ class TestController(Node):
self.attitude_req = SetAttitude.Request() self.attitude_req = SetAttitude.Request()
self.vehicle_control_req = SetVehicleControl.Request() self.vehicle_control_req = SetVehicleControl.Request()
self.traj_req = SetTrajectory.Request() self.traj_req = SetTrajectory.Request()
self.arm_req = Empty.Request() # self.arm_req = Empty.Request()
self.arm_publisher = self.create_publisher(Empty, '/drone/arm', 10) self.arm_publisher = self.create_publisher(Empty, '/drone/arm', 10)
@@ -41,6 +41,7 @@ class TestController(Node):
while rclpy.ok(): while rclpy.ok():
asyncio.run(listen_keyboard_manual(on_press=self.on_press)) asyncio.run(listen_keyboard_manual(on_press=self.on_press))
rclpy.spin_once(self, timeout_sec=0.1) rclpy.spin_once(self, timeout_sec=0.1)
def send_arm(self): def send_arm(self):
self.future = self.arm_cli.call_async(self.arm_req) self.future = self.arm_cli.call_async(self.arm_req)
rclpy.spin_until_future_complete(self, self.future) rclpy.spin_until_future_complete(self, self.future)