From 71a7c30cef72d88b8ce03124d6bcc26f24eb87e9 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Fri, 12 May 2023 17:52:20 +0200 Subject: [PATCH] arming?? --- src/test_controls/test_controls/test_controller.py | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/src/test_controls/test_controls/test_controller.py b/src/test_controls/test_controls/test_controller.py index 7e7cdc7f..0852d893 100644 --- a/src/test_controls/test_controls/test_controller.py +++ b/src/test_controls/test_controls/test_controller.py @@ -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()