sem/5g_drone_ROS2
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add arm and disarm service that return boolean for status and use this in test controller

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Sem van der Hoeven
2023-05-15 10:15:31 +02:00
parent 03e9b2f20f
commit dcd707fb34
4 changed files with 25 additions and 12 deletions
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2
src/drone_services/srv/ArmDrone.srv Normal file
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@@ -0,0 +1,2 @@
---
bool success

2
src/drone_services/srv/DisarmDrone.srv Normal file
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@@ -0,0 +1,2 @@
---
bool success

25
src/px4_connection/src/px4_controller.cpp
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@@ -18,6 +18,8 @@
#include <drone_services/srv/set_attitude.hpp>
#include <drone_services/srv/set_trajectory.hpp>
#include <drone_services/srv/arm_drone.hpp>
#include <drone_services/srv/disarm_drone.hpp>
#include <drone_services/msg/drone_control_mode.hpp>
#include <std_srvs/srv/empty.hpp>
@@ -49,8 +51,8 @@ public:
set_attitude_service_ = this->create_service<drone_services::srv::SetAttitude>("/drone/set_attitude", std::bind(&PX4Controller::handle_attitude_setpoint, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
set_trajectory_service_ = this->create_service<drone_services::srv::SetTrajectory>("/drone/set_trajectory", std::bind(&PX4Controller::handle_trajectory_setpoint, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
disarm_service_ = this->create_service<std_srvs::srv::Empty>("/drone/disarm", std::bind(&PX4Controller::handle_disarm_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
arm_service_ = this->create_service<std_srvs::srv::Empty>("/drone/arm", std::bind(&PX4Controller::handle_arm_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
disarm_service_ = this->create_service<drone_services::srv::DisarmDrone>("/drone/disarm", std::bind(&PX4Controller::handle_disarm_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
arm_service_ = this->create_service<drone_services::srv::ArmDrone>("/drone/arm", std::bind(&PX4Controller::handle_arm_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
// create timer to send vehicle attitude setpoints every second
timer_ = this->create_wall_timer(100ms, std::bind(&PX4Controller::send_setpoint, this));
@@ -183,8 +185,8 @@ private:
*/
void handle_disarm_request(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<std_srvs::srv::Empty::Request> request,
const std::shared_ptr<std_srvs::srv::Empty::Response> response)
const std::shared_ptr<drone_services::srv::DisarmDrone::Request> request,
const std::shared_ptr<drone_services::srv::DisarmDrone::Response> response)
{
RCLCPP_INFO(this->get_logger(), "Got disarm request...");
@@ -193,6 +195,12 @@ private:
armed = false;
flying = false;
publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0, 0);
response->success = true;
}
else
{
RCLCPP_ERROR(this->get_logger(), "Got disarm request but drone was not armed!");
response->success = false;
}
}
@@ -205,8 +213,8 @@ private:
*/
void handle_arm_request(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<std_srvs::srv::Empty::Request> request,
const std::shared_ptr<std_srvs::srv::Empty::Response> response)
const std::shared_ptr<drone_services::srv::ArmDrone::Request> request,
const std::shared_ptr<drone_services::srv::ArmDrone::Response> response)
{
RCLCPP_INFO(this->get_logger(), "Got arm request...");
@@ -220,10 +228,12 @@ private:
RCLCPP_INFO(this->get_logger(), "Arm command sent");
this->last_thrust = -0.1; // spin motors at 10% thrust
armed = true;
response->success = true;
}
else
{
RCLCPP_ERROR(this->get_logger(), "Arm request received but the drone is already armed!");
response->success = false;
}
}
@@ -307,7 +317,7 @@ private:
send_attitude_setpoint();
*/
RCLCPP_INFO(this->get_logger(), "current values: %f %f %f %f", last_setpoint[0], last_setpoint[1], last_setpoint[2], last_thrust);
if (!flying)
{
@@ -332,7 +342,6 @@ private:
send_position_setpoint();
}
}
}
void on_attitude_receive(const px4_msgs::msg::VehicleAttitude::SharedPtr msg)

8
src/test_controls/test_controls/test_controller.py
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@@ -7,7 +7,7 @@ import asyncio
from drone_services.srv import SetAttitude
from drone_services.srv import SetTrajectory
from drone_services.srv import SetVehicleControl
from std_msgs.msg import Empty
from drone_services.srv import ArmDrone
class TestController(Node):
@@ -27,7 +27,7 @@ class TestController(Node):
while not self.traj_cli.wait_for_service(timeout_sec=1.0):
self.get_logger().info('set trajectory service not available, waiting again...')
self.get_logger().info('successfully connected to set trajectory service')
self.arm_cli = self.create_client(Empty, '/drone/arm')
self.arm_cli = self.create_client(ArmDrone, '/drone/arm')
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('successfully connected to arm service')
@@ -38,6 +38,7 @@ class TestController(Node):
self.attitude_req = SetAttitude.Request()
self.vehicle_control_req = SetVehicleControl.Request()
self.traj_req = SetTrajectory.Request()
self.arm_req = ArmDrone.Request()
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")
@@ -47,8 +48,7 @@ class TestController(Node):
rclpy.spin_once(self, timeout_sec=0.1)
def send_arm(self):
arm_req = Empty()
self.future = self.arm_cli.call_async(arm_req)
self.future = self.arm_cli.call_async(self.arm_req)
rclpy.spin_until_future_complete(self, self.future)
self.get_logger().info('publishing message arm msg on service')
return self.future.result()