sem/5g_drone_ROS2
1
0
Fork 0
Code Issues 1 Pull Requests 1 Actions Packages Projects Releases Wiki Activity

arming??

Browse Source
This commit is contained in:
Sem van der Hoeven
2023-05-12 17:52:20 +02:00
parent f080d283f6
commit 71a7c30cef
1 changed files with 3 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
src/test_controls/test_controls/test_controller.py
View File

@@ -28,14 +28,12 @@ class TestController(Node):
while not self.arm_cli.wait_for_service(timeout_sec=1.0):
self.get_logger().info('arm service not available, waiting again...')
self.get_logger().info('all services available')
self.control_mode = 1
self.attitude_req = SetAttitude.Request()
self.vehicle_control_req = SetVehicleControl.Request()
self.traj_req = SetTrajectory.Request()
self.arm_req = Empty.Request()
self.arm_publisher = self.create_publisher(Empty, '/drone/arm', 10)
self.get_logger().info("\nControls:\n1 - Attitude control\n2 - Velocity control\n3 - Position control\n/ - Arm drone\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")
@@ -45,7 +43,8 @@ class TestController(Node):
rclpy.spin_once(self, timeout_sec=0.1)
def send_arm(self):
self.future = self.arm_cli.call_async(self.arm_req)
arm_req = Empty()
self.future = self.arm_cli.call_async(arm_req)
rclpy.spin_until_future_complete(self, self.future)
self.get_logger().info('publishing message arm msg on service')
return self.future.result()