sem/5g_drone_ROS2
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convert pos and vel data to floats

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Sem van der Hoeven
2023-06-05 21:17:23 +02:00
parent ef0c6222ea
commit 56b8f147c4
1 changed files with 7 additions and 4 deletions
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11
src/api_communication/api_communication/api_listener.py
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@@ -138,8 +138,8 @@ class ApiListener(Node):
self.armed = msg.armed
self.status_data['control_mode'] = msg.control_mode
self.status_data['route_setpoint'] = msg.route_setpoint
self.status_data['velocity'] = [msg.velocity[0], msg.velocity[1], msg.velocity[2]]
self.status_data['position'] = [msg.position[0], msg.position[1], msg.position[2]]
self.status_data['velocity'] = [float(msg.velocity[0]), float(msg.velocity[1]), float(msg.velocity[2])]
self.status_data['position'] = [float(msg.position[0]), float(msg.position[1]), float(msg.position[2])]
self.status_data['failsafe'] = msg.failsafe
except Exception as e:
self.get_logger().error(
@@ -182,8 +182,11 @@ class ApiListener(Node):
if self.status_data_received:
self.status_data_received = False
if self.websocket is not None:
self.message_queue.append(json.dumps(
{'type': ResponseMessage.STATUS.name, 'data': self.status_data}))
try:
self.message_queue.append(json.dumps({'type': ResponseMessage.STATUS.name, 'data': self.status_data}))
except Exception as e:
self.get_logger().error(
'Something went wrong while publishing the status: ' + str(e))
def handle_responses(self):
"""Thread to handle responses to send to the client