Merge branch 'stable_flight' into position_changer

.vscode/c_cpp_properties.json

@@ -12,7 +12,8 @@
                 "/mnt/Homework/Avans/AFSTUDEERSTAGE/positioning_systems_api/rtls_driver/include/**",
                 "/mnt/Homework/Avans/AFSTUDEERSTAGE/positioning_systems_api/serial_communication/include/**",
                 "/mnt/Homework/Avans/AFSTUDEERSTAGE/terabee_api/include/**",
-                "/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_generator_cpp/px4_msgs/msg/**"
+                "/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_generator_cpp/px4_msgs/msg/**",
+                "/home/ubuntu/ros2_ws/src/px4_connection/include/**"
             ],
             "name": "ROS",
             "intelliSenseMode": "gcc-x64",

src/drone_services/CMakeLists.txt

@@ -22,9 +22,14 @@ find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/SetAttitude.srv"
+  "srv/SetTrajectory.srv"
   "srv/SetVelocity.srv"  
   "srv/TakePicture.srv"
   "srv/SetVehicleControl.srv"
+  "srv/ArmDrone.srv"
+  "srv/DisarmDrone.srv"
+  "srv/ControlRelais.srv"
+  "msg/DroneControlMode.msg"
 )
 
 if(BUILD_TESTING)

src/drone_services/msg/DroneArmStatus.msg

@@ -0,0 +1 @@
+bool armed false

src/drone_services/msg/DroneControlMode.msg

@@ -0,0 +1,5 @@
+# control mode of the drone
+# 1: Attitude
+# 2: Velocity
+# 3: Position
+int8 control_mode

src/drone_services/msg/DroneRouteStatus.msg

@@ -0,0 +1,2 @@
+int32 current_setpoint_index
+float32[5] current_setpoint # x,y,z,angle,take_picture

src/drone_services/msg/DroneStatus.msg

@@ -0,0 +1,5 @@
+float32 battery_percentage
+float32 cpu_usage
+int32 route_setpoint # -1 if no route
+wstring control_mode
+bool armed

src/drone_services/srv/ArmDrone.srv

@@ -0,0 +1,2 @@
+---
+bool success

src/drone_services/srv/ControlRelais.srv

@@ -0,0 +1,5 @@
+#to turn the relais on or off
+bool relais1_on false
+bool relais2_on false
+---
+int8 bits # relais 1 = bit 0, relais 2 is bit 1

src/drone_services/srv/DisarmDrone.srv

@@ -0,0 +1,2 @@
+---
+bool success

src/drone_services/srv/SetAttitude.srv

@@ -1,3 +1,5 @@
+#service to set attitude setpoints for manual attitude control
+
 #all angles are in degrees
 float32 yaw
 float32 pitch
@@ -6,4 +8,4 @@ float32 roll
 #thrust between -1 and 1
 float32 thrust
 ---
-int8 status
+bool success

src/drone_services/srv/SetTrajectory.srv

@@ -0,0 +1,7 @@
+# control mode velocity or position, refer to drone_services/msg/DroneControlMode.msg
+int8 control_mode
+# x, y, z values
+float32[3] values
+float32 yaw
+---
+bool success

src/drone_services/srv/SetVehicleControl.srv

@@ -1,3 +1,4 @@
+# service to set control mode for heartbeat messages
 # bitmask for control:
 # bit 0: actuator
 # bit 1: body rate
@@ -6,6 +7,10 @@
 # bit 4: velocity
 # bit 5: position
 
+# used control modes:
+# 4: attitude and thrust
+# 16: velocity
+# 32: position
 int32 control # control bitmask
 ---
-int8 status # status of operation
+bool success # if operation succeeded

src/drone_services/srv/SetVelocity.srv

@@ -6,4 +6,4 @@ float32 z_speed
 #angle is in degrees
 float32 angle
 ---
-int8 status
+bool success

src/drone_status/drone_status/drone_status.py

@@ -0,0 +1,63 @@
+import rclpy
+from rclpy.node import Node
+
+from drone_services.msg import DroneStatus
+from drone_services.msg import DroneControlMode
+from drone_services.msg import DroneArmStatus
+from drone_services.msg import DroneRouteStatus
+from px4_msgs.msg import BatteryStatus
+from px4_msgs.msg import Cpuload
+
+CONTROL_MODE_ATTITUDE = 1
+CONTROL_MODE_VELOCITY = 2
+CONTROL_MODE_POSITION = 3
+
+class DroneStatus(Node):
+    def __init__(self):
+        super().__init__('drone_status')
+        #publish to drone/status topic
+        self.publisher = self.create_publisher(DroneStatus, '/drone/status', 10)
+        self.control_mode_subscriber = self.create_subscription(DroneControlMode, '/drone/control_mode', self.control_mode_callback, 10)
+        self.arm_status_subscriber = self.create_subscription(DroneArmStatus, '/drone/arm_status', self.arm_status_callback, 10)
+        self.route_status_subscriber = self.create_subscription(DroneRouteStatus, '/drone/route_status', self.route_status_callback, 10)
+        self.battery_status_subscriber = self.create_subscription(BatteryStatus, '/fmu/out/battery_status', self.battery_status_callback, 10)
+        self.cpu_load_subscriber = self.create_subscription(Cpuload, '/fmu/out/cpuload', self.cpu_load_callback, 10)
+        #publish every 0.5 seconds
+        self.timer = self.create_timer(0.5, self.publish_status)
+        self.armed = False
+        self.control_mode = "attitude"
+        self.battery_percentage = 100.0
+        self.cpu_usage = 0.0
+        self.route_setpoint = 0
+    
+    def publish_status(self):
+        msg = DroneStatus()
+        msg.armed = self.armed
+        msg.control_mode = self.control_mode
+        msg.battery_percentage = self.battery_percentage
+        msg.cpu_usage = self.cpu_usage
+        msg.route_setpoint = self.route_setpoint
+        self.publisher.publish(msg)
+        self.get_logger().info('Publishing: "%s"' % msg.status)
+
+    def control_mode_callback(self,msg):
+        if msg.control_mode == CONTROL_MODE_ATTITUDE:
+            self.control_mode = "attitude"
+        elif msg.control_mode == CONTROL_MODE_VELOCITY:
+            self.control_mode = "velocity"
+        elif msg.control_mode == CONTROL_MODE_POSITION:
+            self.control_mode = "position"
+        else:
+            self.control_mode = "unknown"
+
+    def arm_status_callback(self,msg):
+        self.armed = msg.armed
+    
+    def route_status_callback(self,msg):
+        self.route_setpoint = msg.current_setpoint_index
+
+    def battery_status_callback(self, msg):
+        self.battery_percentage = msg.remaining * 100.0
+    
+    def cpu_load_callback(self, msg):
+        self.cpu_usage = msg.load

src/drone_status/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+    <name>drone_status</name>
+    <version>0.0.0</version>
+    <description>Package for combining several data points from the drone into a single topic</description>
+    <maintainer email="semmer99@gmail.com">ubuntu</maintainer>
+    <license>Apache License 2.0</license>
+    <exec_depend>rclpy</exec_depend>
+    <exec_depend>drone_services</exec_depend>
+    <exec_depend>px4_msgs</exec_depend>
+
+    <test_depend>ament_copyright</test_depend>
+    <test_depend>ament_flake8</test_depend>
+    <test_depend>ament_pep257</test_depend>
+    <test_depend>python3-pytest</test_depend>
+
+    <export>
+        <build_type>ament_python</build_type>
+    </export>
+</package>

src/drone_status/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/drone_status
+[install]
+install-scripts=$base/lib/drone_status

src/drone_status/setup.py

@@ -0,0 +1,25 @@
+from setuptools import setup
+
+package_name = 'drone_status'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='ubuntu',
+    maintainer_email='semmer99@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)

src/drone_status/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/drone_status/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/drone_status/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

src/px4_connection/CMakeLists.txt

@@ -31,6 +31,7 @@ ament_target_dependencies(
     drone_services
     px4_ros_com
     px4_msgs
+    drone_services
 )
 
 add_executable(px4_controller src/px4_controller.cpp)

src/px4_connection/include/drone_control_modes.h

@@ -0,0 +1,20 @@
+#ifndef DRONE_CONTROL_MODES_H
+#define DRONE_CONTROL_MODES_H
+
+#define CONTROL_MODE_ATTITUDE 1
+#define CONTROL_MODE_VELOCITY 2
+#define CONTROL_MODE_POSITION 3
+
+#define CONTROL_MODE_MIN CONTROL_MODE_ATTITUDE
+#define CONTROL_MODE_MAX CONTROL_MODE_POSITION
+
+#define CONTROL_ACTUATOR_POS 0
+#define CONTROL_BODY_RATE_POS 1
+#define CONTROL_ATTITUDE_POS 2
+#define CONTROL_ACCELERATION_POS 3
+#define CONTROL_VELOCITY_POS 4
+#define CONTROL_POSITION_POS 5
+
+
+
+#endif

src/px4_connection/src/heartbeat.cpp

@@ -9,13 +9,11 @@
 #include "rclcpp/rclcpp.hpp"
 #include <px4_msgs/msg/offboard_control_mode.hpp>
 #include <drone_services/srv/set_vehicle_control.hpp>
+#include <drone_services/msg/drone_control_mode.hpp>
+
+#include "drone_control_modes.h"
+
 
-#define CONTROL_ACTUATOR_POS 0
-#define CONTROL_BODY_RATE_POS 1
-#define CONTROL_ATTITUDE_POS 2
-#define CONTROL_ACCELERATION_POS 3
-#define CONTROL_VELOCITY_POS 4
-#define CONTROL_POSITION_POS 5
 
 using namespace std::chrono_literals;
 
@@ -24,10 +22,12 @@ class HeartBeat : public rclcpp::Node
 public:
     HeartBeat() : Node("heartbeat")
     {
-        // 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));
-        vehicle_control_mode_service_ = this->create_service<drone_services::srv::SetVehicleControl>("drone/set_vehicle_control",  std::bind(&HeartBeat::handle_vehicle_control_change, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+        vehicle_control_mode_service_ = this->create_service<drone_services::srv::SetVehicleControl>("/drone/set_vehicle_control", std::bind(&HeartBeat::handle_vehicle_control_change, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+        RCLCPP_INFO(this->get_logger(), "initialized service /drone/set_vehicle_control");
+        // create a publisher on the drone control mode topic
+        drone_control_mode_publisher_ = this->create_publisher<drone_services::msg::DroneControlMode>("/drone/control_mode", 10);
         // create a publisher on the offboard control mode topic
-         offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
+        offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
         // create timer to send heartbeat messages (offboard control) every 100ms
         timer_ = this->create_wall_timer(100ms, std::bind(&HeartBeat::send_heartbeat, this));
         start_time = this->get_clock()->now().seconds();
@@ -37,14 +37,17 @@ public:
 private:
     // publisher for offboard control mode messages
     rclcpp::Publisher<px4_msgs::msg::OffboardControlMode>::SharedPtr offboard_control_mode_publisher_;
+    // publisher for the control mode of the drone
+    rclcpp::Publisher<drone_services::msg::DroneControlMode>::SharedPtr drone_control_mode_publisher_;
     // timer for sending the heartbeat
     rclcpp::TimerBase::SharedPtr timer_;
+    // service to change vehicle_mode
+    rclcpp::Service<drone_services::srv::SetVehicleControl>::SharedPtr vehicle_control_mode_service_;
+
     // start time of node in seconds
     double start_time;
     // which level of control is needed, only attitude control by default
     int control_mode = 1 << CONTROL_ATTITUDE_POS;
-    // service to change vehicle_mode
-    rclcpp::Service<drone_services::srv::SetVehicleControl>::SharedPtr vehicle_control_mode_service_;
     /**
      * @brief Publish offboard control mode messages as a heartbeat.
      *        Only the attitude is enabled, because that is how the drone will be controlled.
@@ -52,34 +55,69 @@ private:
      */
     void send_heartbeat()
     {
-        // set message to enable attitude based on control mode variable
         auto msg = px4_msgs::msg::OffboardControlMode();
-        msg.position = false;
-        msg.velocity = false;
-        msg.acceleration = false;
-        msg.attitude = true;
-        msg.body_rate = false;
-        msg.actuator = false;
         
+        msg.position = (this->control_mode >> CONTROL_POSITION_POS) & 1 ? true : false;
+        msg.velocity = (this->control_mode >> CONTROL_VELOCITY_POS) & 1 ? true : false;
+        msg.acceleration = (this->control_mode >> CONTROL_ACCELERATION_POS) & 1 ? true : false;
+        msg.attitude = (this->control_mode >> CONTROL_ATTITUDE_POS) & 1 ? true : false;
+        msg.body_rate = (this->control_mode >> CONTROL_BODY_RATE_POS) & 1 ? true : false;
+        msg.actuator = (this->control_mode >> CONTROL_ACTUATOR_POS) & 1 ? true : false;
         // get timestamp and publish message
         msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
         offboard_control_mode_publisher_->publish(msg);
     }
 
+/**
+ * @brief Publish the current control mode of the drone onto the 'drone/control_mode' topic
+ * 
+ */
+    void publish_new_control_mode()
+    {
+        auto msg = drone_services::msg::DroneControlMode();
+        if (this->control_mode & (1 << CONTROL_ATTITUDE_POS))
+        {
+            msg.control_mode = CONTROL_MODE_ATTITUDE;
+            RCLCPP_INFO(this->get_logger(), "set control mode to attitude");
+        }
+        else if (this->control_mode & (1 << CONTROL_VELOCITY_POS))
+        {
+            msg.control_mode = CONTROL_MODE_VELOCITY;
+            RCLCPP_INFO(this->get_logger(), "set control mode to velocity");
+        }
+        else if (this->control_mode & (1 << CONTROL_POSITION_POS))
+        {
+            msg.control_mode = CONTROL_MODE_POSITION;
+            RCLCPP_INFO(this->get_logger(), "set control mode to position");
+        }
+        RCLCPP_INFO(this->get_logger(), "publishing new control mode %d", msg.control_mode);
+        drone_control_mode_publisher_->publish(msg);
+    }
+
+    /**
+     * @brief Handle a request to change the vehicle control mode
+     *
+     * @param request_header the header of the service request
+     * @param request the request that was sent to the service
+     * @param response the reponse that the service sends back to the client.
+     */
+
     void handle_vehicle_control_change(
         const std::shared_ptr<rmw_request_id_t> request_header,
         const std::shared_ptr<drone_services::srv::SetVehicleControl::Request> request,
         const std::shared_ptr<drone_services::srv::SetVehicleControl::Response> response)
     {
-        if (request->control < 0 || request->control > CONTROL_POSITION_POS)
+        if (request->control < 0 || request->control > (1 << CONTROL_POSITION_POS))
+        {
+            response->success = false;
+        }
+        else
         {
-            response->status = 1;
-        } else {
             this->control_mode = request->control;
             RCLCPP_INFO(this->get_logger(), "set control mode to %d", this->control_mode);
-            response->status = 0;
+            publish_new_control_mode();
+            response->success = true;
         }
-
     }
 };
 

src/px4_connection/src/px4_controller.cpp

@@ -15,12 +15,21 @@
 #include <px4_msgs/msg/vehicle_command.hpp>
 #include <px4_msgs/msg/vehicle_control_mode.hpp>
 #include <px4_msgs/msg/vehicle_attitude.hpp>
+#include <px4_msgs/msg/vehicle_local_position.hpp>
 
 #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 <drone_services/msg/drone_arm_status.hpp>
 
 #include <std_srvs/srv/empty.hpp>
 
-#define D_SPEED(x) -x - 9.81
+#include "drone_control_modes.h"
+
+#define DEFAULT_YAW_SPEED 0.6 // default turning speed in radians per second
+#define D_SPEED(x) -x - 9.81  // a speed up of x m/s has to be ajusted for the earths gravity
 
 using namespace std::chrono_literals;
 
@@ -37,13 +46,18 @@ public:
         vehicle_setpoint_publisher_ = this->create_publisher<px4_msgs::msg::VehicleAttitudeSetpoint>("/fmu/in/vehicle_attitude_setpoint", 10);
         vehicle_command_publisher_ = this->create_publisher<px4_msgs::msg::VehicleCommand>("/fmu/in/vehicle_command", 10);
         trajectory_setpoint_publisher = this->create_publisher<px4_msgs::msg::TrajectorySetpoint>("/fmu/in/trajectory_setpoint", 10);
+        arm_status_publisher_ = this->create_publisher<drone_services::msg::DroneArmStatus>("/drone/arm_status", 10);
         // offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
 
         vehicle_attitude_subscription_ = this->create_subscription<px4_msgs::msg::VehicleAttitude>("/fmu/out/vehicle_attitude", qos, std::bind(&PX4Controller::on_attitude_receive, this, std::placeholders::_1));
+        vehicle_local_position_subscription_ = this->create_subscription<px4_msgs::msg::VehicleLocalPosition>("/fmu/out/vehicle_local_position", qos, std::bind(&PX4Controller::on_local_position_receive, this, std::placeholders::_1));
+        control_mode_subscription_ = this->create_subscription<drone_services::msg::DroneControlMode>("/drone/control_mode", qos, std::bind(&PX4Controller::on_control_mode_receive, this, std::placeholders::_1));
 
-        set_attitude_service_ = this->create_service<drone_services::srv::SetAttitude>("drone/set_attitude", std::bind(&PX4Controller::set_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));
 
+        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<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));
 
@@ -55,17 +69,23 @@ private:
     rclcpp::Publisher<px4_msgs::msg::VehicleAttitudeSetpoint>::SharedPtr vehicle_setpoint_publisher_;
     rclcpp::Publisher<px4_msgs::msg::TrajectorySetpoint>::SharedPtr trajectory_setpoint_publisher;
     rclcpp::Publisher<px4_msgs::msg::VehicleCommand>::SharedPtr vehicle_command_publisher_;
+    rclcpp::Publisher<drone_services::msg::DroneArmStatus>::SharedPtr arm_status_publisher_;
+
     rclcpp::Subscription<px4_msgs::msg::VehicleAttitude>::SharedPtr vehicle_attitude_subscription_;
+    rclcpp::Subscription<px4_msgs::msg::VehicleLocalPosition>::SharedPtr vehicle_local_position_subscription_;
+    rclcpp::Subscription<drone_services::msg::DroneControlMode>::SharedPtr control_mode_subscription_;
 
     rclcpp::Service<drone_services::srv::SetAttitude>::SharedPtr set_attitude_service_;
-    rclcpp::Service<std_srvs::srv::Empty>::SharedPtr disarm_service_;
+    rclcpp::Service<drone_services::srv::SetTrajectory>::SharedPtr set_trajectory_service_;
+    rclcpp::Service<drone_services::srv::DisarmDrone>::SharedPtr disarm_service_;
+    rclcpp::Service<drone_services::srv::ArmDrone>::SharedPtr arm_service_;
 
     // rclcpp::Publisher<px4_msgs::msg::OffboardControlMode>::SharedPtr offboard_control_mode_publisher_;
 
     rclcpp::TimerBase::SharedPtr timer_;
     double start_time_;
     bool has_sent_status = false;
-    bool flying = false;
+    bool user_in_control = false; // if user has taken over control
     bool armed = false;
     bool has_swithed = false;
     int setpoint_count = 0;
@@ -75,16 +95,42 @@ private:
     bool new_setpoint = false; // for printing new q_d when a new setpoint has been received
 
     float last_setpoint[3] = {0, 0, 0};
-    float last_angle = 0;
-    float last_thrust = 0;
+    float last_angle = 0;  // angle in radians (-PI .. PI)
+    float last_thrust = 0; // default 10% thrust for when the drone gets armed
+
+    float velocity[3] = {0, 0, 0};
+    float position[3] = {0, 0, 0};
 
     float base_q[4] = {0, 0, 0, 0};
     int base_q_amount = 0;
 
+    char current_control_mode = CONTROL_MODE_ATTITUDE; // start with attitude control
+
+    bool start_trajectory = false;
+    const float omega = 0.3; // angular speed of the POLAR trajectory
+    const float K = 0;       // [m] gain that regulates the spiral pitch
+
+    float rho_0 = 0;
+    float theta_0 = 0;
+    const float p0_z = -0.0;
+    float p0_x = rho_0 * cos(theta_0);
+    float p0_y = rho_0 * sin(theta_0);
+    float des_x = p0_x, des_y = p0_y, des_z = p0_z;
+    float dot_des_x = 0.0, dot_des_y = 0.0;
+    float gamma = M_PI_4;
+
+    float X;
+    float Y;
+
+    float local_x = 0;
+    float local_y = 0;
+
+    uint32_t discrete_time_index = 0;
+
     // result quaternion
     std::array<float, 4> q = {0, 0, 0, 0};
 
-    void set_setpoint(
+    void handle_attitude_setpoint(
         const std::shared_ptr<rmw_request_id_t> request_header,
         const std::shared_ptr<drone_services::srv::SetAttitude::Request> request,
         const std::shared_ptr<drone_services::srv::SetAttitude::Response> response)
@@ -113,9 +159,8 @@ private:
 
             RCLCPP_INFO(this->get_logger(), "got values: yaw:%f pitch:%f roll:%f thrust:%f", request->yaw, request->pitch, request->roll, request->thrust);
             RCLCPP_INFO(this->get_logger(), "New setpoint: yaw:%f pitch:%f roll:%f thrust:%f", last_setpoint[0], last_setpoint[1], last_setpoint[2], last_thrust);
-            new_setpoint = true;
 
-            response->status = 0;
+            response->success = true;
         }
         else
         {
@@ -123,7 +168,44 @@ private:
             last_setpoint[0] = 0;
             last_setpoint[1] = 0;
             last_setpoint[2] = 0;
-            response->status = 1;
+            response->success = false;
+        }
+    }
+
+    void handle_trajectory_setpoint(
+        const std::shared_ptr<rmw_request_id_t> request_header,
+        const std::shared_ptr<drone_services::srv::SetTrajectory::Request> request,
+        const std::shared_ptr<drone_services::srv::SetTrajectory::Response> response)
+    {
+        if (!(request->control_mode == CONTROL_MODE_VELOCITY || request->control_mode == CONTROL_MODE_POSITION))
+        {
+            RCLCPP_INFO(this->get_logger(), "Got invalid trajectory control mode: %d", request->control_mode);
+            response->success = false;
+        }
+        else
+        {
+            RCLCPP_INFO(this->get_logger(), "Got new trajectory setpoint with control mode: %d", request->control_mode);
+            if (request->control_mode == CONTROL_MODE_VELOCITY)
+            {
+                for (int i = 0; i < 3; i++)
+                {
+                    velocity[i] += request->values[i];
+                }
+                RCLCPP_INFO(this->get_logger(), "Got new velocity setpoint. %f %f %f", velocity[0], velocity[1], velocity[2]);
+            }
+            else if (request->control_mode == CONTROL_MODE_POSITION)
+            {
+                position[0] += request->values[0];
+                position[1] += request->values[1];
+                position[2] -= request->values[2]; // height is negative
+
+                RCLCPP_INFO(this->get_logger(), "Got new position setpoint: %f %f %f", position[0], position[1], position[2]);
+            }
+
+            last_angle += request->yaw;
+            new_setpoint = true;
+            RCLCPP_INFO(this->get_logger(), "Yaw: %f", last_angle);
+            response->success = true;
         }
     }
 
@@ -136,47 +218,66 @@ 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...");
 
         if (armed)
         {
             armed = false;
+            user_in_control = false;
             publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0, 0);
-        }
-    }
 
-    void send_trajectory_setpoint()
-    {
+            auto msg = drone_services::msg::DroneArmStatus();
+            msg.armed = false;
+            arm_status_publisher_->publish(msg);
             
-        auto msg = px4_msgs::msg::TrajectorySetpoint();
-        if (this->get_clock()->now().seconds() - start_time_ < 10)
-        {
-            msg.acceleration[0] = 0;
-            msg.acceleration[1] = 0;
-            msg.acceleration[2] = D_SPEED(10);
-            msg.yawspeed = 0;
-            msg.yaw = -3.14;
+            response->success = true;
         }
         else
         {
-            if (!has_swithed)
-            {
-                RCLCPP_INFO(this->get_logger(), "waiting for service input...");
-                has_swithed = true;
-            }
-
-            msg.acceleration[0] = last_setpoint[0];
-            msg.acceleration[1] = last_setpoint[1];
-            msg.acceleration[2] = D_SPEED(last_setpoint[2]);
-            msg.yawspeed = 0.5;
+            RCLCPP_ERROR(this->get_logger(), "Got disarm request but drone was not armed!");
+            response->success = false;
         }
+    }
 
-        msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
+    /**
+     * @brief arms the drone when a call to the arm service is made
+     *
+     * @param request_header the header for the service request
+     * @param request the request (empty)
+     * @param response the response (empty)
+     */
+    void handle_arm_request(
+        const std::shared_ptr<rmw_request_id_t> request_header,
+        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...");
 
-        trajectory_setpoint_publisher->publish(msg);
+        if (!armed)
+        {
+            this->publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_DO_SET_MODE, 1, 6);
+            RCLCPP_INFO(this->get_logger(), "Set to offboard mode");
+            // arm the drone
+            this->publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 1.0, 0);
+
+            RCLCPP_INFO(this->get_logger(), "Arm command sent");
+            this->last_thrust = -0.1; // spin motors at 10% thrust
+            armed = true;
+
+            auto msg = drone_services::msg::DroneArmStatus();
+            msg.armed = true;
+            arm_status_publisher_->publish(msg);
+
+            response->success = true;
+        }
+        else
+        {
+            RCLCPP_ERROR(this->get_logger(), "Arm request received but the drone is already armed!");
+            response->success = false;
+        }
     }
 
     void send_attitude_setpoint()
@@ -185,41 +286,18 @@ private:
         // set message to enable attitude
         auto msg = px4_msgs::msg::VehicleAttitudeSetpoint();
 
-        // if (this->get_clock()->now().seconds() - start_time_ < 30)
-        // {
-        // msg.yaw_body = last_setpoint[0];
-        // msg.pitch_body = last_setpoint[1];
-        // msg.roll_body = last_setpoint[2];
         // move up?
         msg.thrust_body[0] = 0; // north
         msg.thrust_body[1] = 0; // east
         msg.thrust_body[2] = -last_thrust;
 
         calculate_quaternion(q, last_setpoint[0], last_setpoint[1], last_setpoint[2]);
-        // RCLCPP_INFO(this->get_logger(), "yaw:%f pitch:%f roll:%f thrust:%f", q.at(0), q.at(1), q.at(2), last_thrust);
-        // }
-        // else
-        // {
-        //     if (flying)
-        //     {
-        //         publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0, 0);
-        //         flying = false;
-        //         RCLCPP_INFO(this->get_logger(), "Disarm command sent after 30 seconds");
-        //     }
-        // }
-
         // set quaternion
         msg.q_d[0] = q.at(0);
         msg.q_d[1] = base_q[1] + q.at(1);
         msg.q_d[2] = base_q[2] + q.at(2);
         msg.q_d[3] = base_q[3] + q.at(3);
 
-        if (new_setpoint)
-        {
-            RCLCPP_INFO(this->get_logger(), "q_d: [%f, %f, %f, %f]", msg.q_d[0], msg.q_d[1], msg.q_d[2], msg.q_d[3]);
-            new_setpoint = false;
-        }
-
         msg.yaw_sp_move_rate = 0;
         msg.reset_integral = false;
         msg.fw_control_yaw_wheel = false;
@@ -228,33 +306,102 @@ private:
         vehicle_setpoint_publisher_->publish(msg);
     }
 
+    void send_velocity_setpoint()
+    {
+        auto msg = px4_msgs::msg::TrajectorySetpoint();
+
+        msg.velocity[0] = velocity[0];
+        msg.velocity[1] = velocity[1];
+        msg.velocity[2] = -velocity[2];
+        for (int i = 0; i < 3; i++)
+        {
+            msg.position[i] = NAN;
+        }
+
+        publish_trajectory_setpoint(msg);
+    }
+
+    void send_position_setpoint()
+    {
+        auto msg = px4_msgs::msg::TrajectorySetpoint();
+
+        RCLCPP_INFO(this->get_logger(), "Sending position setpoint: %f %f %f", des_x, des_y, des_z);
+        RCLCPP_INFO(this->get_logger(),"local position: %f %f", local_x, local_y);
+        msg.position = {local_x, local_y, des_z};
+        msg.velocity = {dot_des_x, dot_des_y, 0.0};
+        msg.yaw = gamma; //-3.14; // [-PI:PI]
+
+        msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
+        trajectory_setpoint_publisher->publish(msg);
+    }
+
+    void publish_trajectory_setpoint(px4_msgs::msg::TrajectorySetpoint msg)
+    {
+        msg.yaw = last_angle;
+        msg.yawspeed = DEFAULT_YAW_SPEED;
+        msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
+        trajectory_setpoint_publisher->publish(msg);
+    }
+
     /**
      * @brief Send setpoints to PX4. First, 20 setpoints will be sent before offboard mode will be engaged and the drone will be armed.
      *
      */
     void send_setpoint()
     {
-        // increase amount of setpoints sent
-        setpoint_count++;
+        // the spiral, in polar coordinates (theta, rho), is given by
+        // theta = theta_0 + omega*t
+        // rho = rho_0 + K*theta
+        float theta = theta_0 + omega * 0.1 * discrete_time_index;
+        float rho = rho_0 + K * theta;
 
-        ready_to_fly = setpoint_count == 20;
-        // after 20 setpoints, send arm command to make drone actually fly
-        if (ready_to_fly)
+        // from polar to cartesian coordinates
+        des_x = rho * cos(theta);
+        des_y = rho * sin(theta);
+        des_z = position[2]; // the z position can be set to the received height
+
+        // velocity computation
+        float dot_rho = K * omega;
+        dot_des_x = dot_rho * cos(theta) - rho * sin(theta) * omega;
+        dot_des_y = dot_rho * sin(theta) + rho * cos(theta) * omega;
+        // desired heading direction
+        gamma = atan2(dot_des_y, dot_des_x);
+
+        if (!user_in_control)
         {
-            // switch to offboard mode and arm
-
-            // set to offboard mode
-            this->publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_DO_SET_MODE, 1, 6);
-            RCLCPP_INFO(this->get_logger(), "Set to offboard mode");
-            // arm the drone
-            this->publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 1.0, 0);
-
-            RCLCPP_INFO(this->get_logger(), "Arm command sent");
-            flying = true;
-            armed = true;
+            // RCLCPP_INFO(this->get_logger(), "Sending idle attitude setpoint");
+            send_attitude_setpoint();
+        }
+        else
+        {
+            if (current_control_mode == CONTROL_MODE_ATTITUDE)
+            {
+                // RCLCPP_INFO(this->get_logger(), "Sending attitude setpoint");
+                send_attitude_setpoint();
+            }
+            else
+            {
+                if (!new_setpoint)
+                {
+                    return;
+                }
+                if (current_control_mode == CONTROL_MODE_VELOCITY)
+                {
+                    // RCLCPP_INFO(this->get_logger(), "Sending velocity setpoint");
+                    send_velocity_setpoint();
+                }
+                else if (current_control_mode == CONTROL_MODE_POSITION)
+                {
+                    // RCLCPP_INFO(this->get_logger(), "Sending position setpoint");
+                    send_position_setpoint();
+                }
+                new_setpoint = false;
+            }
+        }
+        if (start_trajectory)
+        {
+            discrete_time_index++;
         }
-
-        send_attitude_setpoint();
     }
 
     void on_attitude_receive(const px4_msgs::msg::VehicleAttitude::SharedPtr msg)
@@ -273,17 +420,57 @@ private:
                 base_q[1] = (base_q[1] + msg->q[1]) / 2;
                 base_q[2] = (base_q[2] + msg->q[2]) / 2;
                 base_q[3] = (base_q[3] + msg->q[3]) / 2;
-            } else {
+            }
+            else
+            {
                 base_q[1] = msg->q[1];
                 base_q[2] = msg->q[2];
                 base_q[3] = msg->q[3];
                 base_q_amount++;
             }
 
-            RCLCPP_INFO(this->get_logger(), "base_q: %f %f %f %f", base_q[0], base_q[1], base_q[2], base_q[3]);
+            // RCLCPP_INFO(this->get_logger(), "base_q: %f %f %f %f", base_q[0], base_q[1], base_q[2], base_q[3]);
         }
     }
 
+    void on_local_position_receive(const px4_msgs::msg::VehicleLocalPosition::SharedPtr msg)
+    {
+        // set start values to current position
+        if (!user_in_control)
+        {
+            // https://www.math.usm.edu/lambers/mat169/fall09/lecture33.pdf
+            rho_0 = pow(msg->x,2) + pow(msg->y,2);
+            theta_0 = atan2(msg->y, msg->x);
+            last_angle = msg->heading;
+
+            local_x = msg->x;
+            local_y = msg->y;
+        }
+        X = msg->x;
+        Y = msg->y;
+        float Z = msg->z;
+        if (!start_trajectory && (p0_x + 1.0 > X && p0_x - 1.0 < X) && (p0_y + 1.0 > Y && p0_y - 1.0 < Y) && (p0_z + 1.0 > Z && p0_z - 1.0 < Z))
+        {
+            start_trajectory = true;
+            RCLCPP_INFO(this->get_logger(), "start trajectory");
+        }
+    }
+
+    void on_control_mode_receive(const drone_services::msg::DroneControlMode::SharedPtr msg)
+    {
+        if (msg->control_mode >= CONTROL_MODE_MIN && msg->control_mode <= CONTROL_MODE_MAX)
+        {
+            current_control_mode = msg->control_mode;
+            RCLCPP_INFO(this->get_logger(), "Got valid control mode");
+            user_in_control = true; // user has taken over control
+        }
+        else
+        {
+            RCLCPP_ERROR(this->get_logger(), "Received invalid control mode %d", msg->control_mode);
+        }
+        RCLCPP_INFO(this->get_logger(), "Control mode set to %d", current_control_mode);
+    }
+
     /**
      * @brief Publish vehicle commands
      * @param command   Command code (matches VehicleCommand and MAVLink MAV_CMD codes)

src/relais_control/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+    <name>relais_control</name>
+    <version>0.0.0</version>
+    <description>package to control the relais that enables Pixhawk RX and TX communication</description>
+    <maintainer email="semmer99@gmail.com">ubuntu</maintainer>
+    <license>Apache License 2.0</license>
+    <exec_depend>rclpy</exec_depend>
+    <exec_depend>drone_services</exec_depend>
+
+
+    <test_depend>ament_copyright</test_depend>
+    <test_depend>ament_flake8</test_depend>
+    <test_depend>ament_pep257</test_depend>
+    <test_depend>python3-pytest</test_depend>
+
+    <export>
+        <build_type>ament_python</build_type>
+    </export>
+</package>

src/relais_control/relais_control/relais_controller.py

@@ -0,0 +1,66 @@
+import rclpy
+from rclpy.node import Node
+
+try:
+    import RPi.GPIO as GPIO
+except RuntimeError:
+    print("Error importing RPi.GPIO!  This is probably because you need superuser privileges.  You can achieve this by using 'sudo' to run your script")
+
+from drone_services.srv import ControlRelais
+class RelaisController(Node):
+    def __init__(self):
+        super().__init__('relais_controller')
+        self.srv = self.create_service(ControlRelais, '/drone/control_relais', self.control_relais_callback)
+
+        self.relais1_pin = 17
+        self.relais2_pin = 27
+        self.init_gpio()
+        self.turn_relais_on()
+    
+    def init_gpio(self):
+        GPIO.setwarnings(False)
+
+        self.get_logger().info(str(GPIO.RPI_INFO))
+
+        GPIO.setmode(GPIO.BCM)
+
+        GPIO.setup(self.relais1_pin, GPIO.OUT)
+        GPIO.setup(self.relais2_pin, GPIO.OUT)
+        self.get_logger().info("GPIO initialized")
+
+    def turn_relais_on(self):
+        GPIO.output(self.relais1_pin, GPIO.HIGH)
+        GPIO.output(self.relais2_pin, GPIO.HIGH)
+        self.get_logger().info("Relais turned on")
+
+    def control_relais_callback(self, request, response):
+        if request.relais1_on:
+            GPIO.output(self.relais1_pin, GPIO.HIGH)
+            response.bits = response.bits | 1
+        else:
+            GPIO.output(self.relais1_pin, GPIO.LOW)
+            response.bits = response.bits & ~(1 << 0)
+        if request.relais2_on:
+            GPIO.output(self.relais2_pin, GPIO.HIGH)
+            response.bits = response.bits | (1 << 1)
+        else:
+            GPIO.output(self.relais2_pin, GPIO.LOW)
+            response.bits = response.bits & ~(1 << 1)
+        return response
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    relais_controller = RelaisController()
+
+    rclpy.spin(relais_controller)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    relais_controller.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

src/relais_control/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/relais_control
+[install]
+install-scripts=$base/lib/relais_control

src/relais_control/setup.py

@@ -0,0 +1,26 @@
+from setuptools import setup
+
+package_name = 'relais_control'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='ubuntu',
+    maintainer_email='semmer99@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'relais_controller = relais_control.relais_controller:main'
+        ],
+    },
+)

src/relais_control/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/relais_control/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/relais_control/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

src/test_controls/test_controls/test_controller.py

@@ -5,7 +5,13 @@ from sshkeyboard import listen_keyboard_manual
 import asyncio
 
 from drone_services.srv import SetAttitude
+from drone_services.srv import SetTrajectory
+from drone_services.srv import SetVehicleControl
+from drone_services.srv import ArmDrone
 
+CONTROL_MODE_ATTITUDE = 4
+CONTROL_MODE_VELOCITY = 16
+CONTROL_MODE_POSITION = 32
 
 class TestController(Node):
 
@@ -13,96 +19,236 @@ class TestController(Node):
         super().__init__('test_controller')
         self.cli = self.create_client(SetAttitude, 'drone/set_attitude')
         while not self.cli.wait_for_service(timeout_sec=1.0):
-            self.get_logger().info('service not available, waiting again...')
-        self.req = SetAttitude.Request()
+            self.get_logger().info('set attitude service not available, waiting again...')
+        self.get_logger().info('successfully connected to set attitude service')
+        self.vehicle_control_cli = self.create_client(
+            SetVehicleControl, '/drone/set_vehicle_control')
+        while not self.vehicle_control_cli.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('set vehicle control service not available, waiting again...')
+        self.get_logger().info('successfully connected to set vehicle control service')
+        self.traj_cli = self.create_client(SetTrajectory, '/drone/set_trajectory')
+        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(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')
 
-        self.get_logger().info("Controls:\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")
+        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 = 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\nCTRL-C - exit")
 
     def spin(self):
         while rclpy.ok():
             asyncio.run(listen_keyboard_manual(on_press=self.on_press))
             rclpy.spin_once(self, timeout_sec=0.1)
 
-    def send_request(self, yaw, pitch, roll, thrust):
-        self.req.yaw = yaw
-        self.req.pitch = pitch
-        self.req.roll = roll
-        self.req.thrust = thrust
-        self.get_logger().info('set request to %f %f %f %f' % (yaw, pitch, roll, thrust))
-        self.future = self.cli.call_async(self.req)
+    def send_arm(self):
+        self.future = self.arm_cli.call_async(self.arm_req)
         rclpy.spin_until_future_complete(self, self.future)
-        self.get_logger().info('publishing message on service')
+        self.get_logger().info('publishing message arm msg on service')
+        return self.future.result()
+    
+    def send_control_mode(self):
+        self.vehicle_control_req.control = self.control_mode
+        self.future = self.vehicle_control_cli.call_async(self.vehicle_control_req)
+        rclpy.spin_until_future_complete(self, self.future)
+        self.get_logger().info('publishing message vehicle control msg on service')
+        return self.future.result()
+
+    def send_attitude_request(self, yaw, pitch, roll, thrust):
+        self.attitude_req.yaw = yaw
+        self.attitude_req.pitch = pitch
+        self.attitude_req.roll = roll
+        self.attitude_req.thrust = thrust
+        self.get_logger().info('set request to %f %f %f %f' % (yaw, pitch, roll, thrust))
+        self.future = self.cli.call_async(self.attitude_req)
+        rclpy.spin_until_future_complete(self, self.future)
+        self.get_logger().info('publishing attitude message on service')
+        return self.future.result()
+
+    def send_velocity_request(self, x, y, z, angle):
+        self.traj_req.control_mode = 2
+        self.traj_req.yaw = angle
+        self.traj_req.values = [x, y, z]
+        self.get_logger().info('set request to %f %f %f %f' % (x, y, z, angle))
+        self.future = self.traj_cli.call_async(self.traj_req)
+        rclpy.spin_until_future_complete(self, self.future)
+        self.get_logger().info('publishing velocity message on service')
+        return self.future.result()
+
+    def send_position_request(self, x, y, z, angle):
+        self.traj_req.control_mode = 3
+        self.traj_req.yaw = angle
+        self.traj_req.values = [x, y, z]
+        self.get_logger().info('set request to %f %f %f %f' % (x, y, z, angle))
+        self.future = self.traj_cli.call_async(self.traj_req)
+        rclpy.spin_until_future_complete(self, self.future)
+        self.get_logger().info('publishing position message on service')
         return self.future.result()
 
     def on_release(self, key):
         # self.get_logger().info('released ' + str(key))
         pass
 
+    def move_up(self):
+        pass
+        if (self.control_mode == CONTROL_MODE_ATTITUDE):
+            self.send_attitude_request(pitch=0.0, yaw=0.0,
+                                       roll=0.0, thrust=0.05)
+        elif (self.control_mode == CONTROL_MODE_VELOCITY):
+            self.send_velocity_request(x=0.0, y=0.0, z=0.1, angle=0.0)
+        else:
+            self.send_position_request(x=0.0, y=0.0, z=0.5, angle=0.0)
+
+    def move_right(self):
+        if (self.control_mode == CONTROL_MODE_ATTITUDE):
+            self.send_attitude_request(pitch=0.0, yaw=0.0,
+                                       roll=1.0, thrust=0.0)
+        elif (self.control_mode == CONTROL_MODE_VELOCITY):
+            self.send_velocity_request(x=1.0, y=0.0, z=0.0, angle=0.0)
+        else:
+            self.send_position_request(x=1.0, y=0.0, z=0.0, angle=0.0)
+
+    def move_down(self):
+        if (self.control_mode == CONTROL_MODE_ATTITUDE):
+            self.send_attitude_request(pitch=0.0, yaw=0.0,
+                                       roll=0.0, thrust=-0.05)
+        elif (self.control_mode == CONTROL_MODE_VELOCITY):
+            self.send_velocity_request(x=0.0, y=0.0, z=-0.1, angle=0.0)
+        else:
+            self.send_position_request(x=0.0, y=0.0, z=-0.5, angle=0.0)
+
+    def move_left(self):
+        if (self.control_mode == CONTROL_MODE_ATTITUDE):
+            self.send_attitude_request(pitch=0.0, yaw=0.0,
+                                       roll=-1.0, thrust=0.0)
+        elif (self.control_mode == CONTROL_MODE_VELOCITY):
+            self.send_velocity_request(x=-1.0, y=0.0, z=0.0, angle=0.0)
+        else:
+            self.send_position_request(x=-1.0, y=0.0, z=0.0, angle=0.0)
+
+    def rotate_right(self):
+        if (self.control_mode == CONTROL_MODE_ATTITUDE):
+            self.send_attitude_request(pitch=0.0, yaw=1.0,
+                                       roll=0.0, thrust=0.0)
+        elif (self.control_mode == CONTROL_MODE_VELOCITY):
+            self.send_velocity_request(x=0.0, y=0.0, z=0.0, angle=1.0)
+        else:
+            self.send_position_request(x=0.0, y=0.0, z=0.0, angle=1.0)
+
+    def rotate_left(self):
+        if (self.control_mode == CONTROL_MODE_ATTITUDE):
+            self.send_attitude_request(pitch=0.0, yaw=-1.0,
+                                       roll=0.0, thrust=0.0)
+        elif (self.control_mode == CONTROL_MODE_VELOCITY):
+            self.send_velocity_request(x=0.0, y=0.0, z=0.0, angle=-1.0)
+        else:
+            self.send_position_request(x=0.0, y=0.0, z=0.0, angle=-1.0)
+
+    def move_forward(self):
+        if (self.control_mode == CONTROL_MODE_ATTITUDE):
+            self.send_attitude_request(pitch=-1.0, yaw=0.0,
+                                       roll=0.0, thrust=0.0)
+        elif (self.control_mode == CONTROL_MODE_VELOCITY):
+            self.send_velocity_request(x=0.0, y=1.0, z=0.0, angle=0.0)
+        else:
+            self.send_position_request(x=0.0, y=1.0, z=0.0, angle=0.0)
+
+    def move_backward(self):
+        if (self.control_mode == CONTROL_MODE_ATTITUDE):
+            self.send_attitude_request(pitch=1.0, yaw=0.0,
+                                       roll=0.0, thrust=0.0)
+        elif (self.control_mode == CONTROL_MODE_VELOCITY):
+            self.send_velocity_request(x=0.0, y=-1.0, z=0.0, angle=0.0)
+        else:
+            self.send_position_request(x=0.0, y=-1.0, z=0.0, angle=0.0)
+
+    def stop(self):
+        if (self.control_mode == CONTROL_MODE_ATTITUDE):
+            self.send_attitude_request(pitch=0.0, yaw=0.0,
+                                       roll=0.0, thrust=0.0)
+        elif (self.control_mode == CONTROL_MODE_VELOCITY):
+            self.send_velocity_request(x=0.0, y=0.0, z=0.0, angle=0.0)
+        else:
+            self.send_position_request(x=0.0, y=0.0, z=0.0, angle=0.0)
+
+    def move_up_little(self):
+        if (self.control_mode == CONTROL_MODE_ATTITUDE):
+            self.send_attitude_request(pitch=0.0, yaw=0.0,
+                                       roll=0.0, thrust=0.01)
+        elif (self.control_mode == CONTROL_MODE_VELOCITY):
+            self.send_velocity_request(x=0.0, y=0.0, z=0.05, angle=0.0)
+        else:
+            self.send_position_request(x=0.0, y=0.0, z=1.0, angle=0.0)
+
+    def move_down_little(self):
+        if (self.control_mode == CONTROL_MODE_ATTITUDE):
+            self.send_attitude_request(pitch=0.0, yaw=0.0,
+                                       roll=0.0, thrust=-0.01)
+        elif (self.control_mode == CONTROL_MODE_VELOCITY):
+            self.send_velocity_request(x=0.0, y=0.0, z=-0.05, angle=0.0)
+        else:
+            self.send_position_request(x=0.0, y=0.0, z=-1.0, angle=0.0)
+
     def on_press(self, key):
         try:
             # self.get_logger().info('pressed ' + char)
             if key == 'w':
                 self.get_logger().info('forward')
-                self.send_request(pitch=-1.0, yaw=0.0,
-                                  roll=0.0, thrust=0.0)
+                self.move_forward()
             if key == 's':
                 self.get_logger().info('backward')
-                self.send_request(pitch=1.0, yaw=0.0,
-                                  roll=0.0, thrust=0.0)
+                self.move_backward()
             if key == 'a':
                 self.get_logger().info('left')
-                self.send_request(pitch=0.0, yaw=0.0,
-                                  roll=-1.0, thrust=0.0)
+                self.move_left()
             if key == 'd':
                 self.get_logger().info('right')
-                self.send_request(pitch=0.0, yaw=0.0,
-                                  roll=1.0, thrust=0.0)
+                self.move_right()
             if key == 'q':
                 self.get_logger().info('rotate left')
-                self.send_request(pitch=0.0, yaw=-1.0,
-                                  roll=0.0, thrust=0.0)
+                self.rotate_left()
             if key == 'e':
                 self.get_logger().info('rotate right')
-                self.send_request(pitch=0.0, yaw=1.0,
-                                  roll=0.0, thrust=0.0)
+                self.rotate_right()
             if key == 'z':
                 self.get_logger().info('down')
-                self.send_request(pitch=0.0, yaw=0.0,
-                                  roll=0.0, thrust=-0.05)
+                self.move_down()
             if key == 'space':
                 self.get_logger().info('up')
-                self.send_request(pitch=0.0, yaw=0.0,
-                                  roll=0.0, thrust=0.05)
+                self.move_up()
             if key == 'v':
                 self.get_logger().info('down a little')
-                self.send_request(pitch=0.0, yaw=0.0,
-                                  roll=0.0, thrust=-0.01)
+                self.move_down_little()
             if key == 'f':
                 self.get_logger().info('up a little')
-                self.send_request(pitch=0.0, yaw=0.0,
-                                  roll=0.0, thrust=0.01)
+                self.move_up_little()
             if key == 'n':
                 self.get_logger().info('stop')
-                self.send_request(pitch=0.0, yaw=0.0,
-                                  roll=0.0, thrust=0.0)
-            
-            # else:
-            #     try:
-            #         # known keys like spacebar, ctrl
-            #         name = key.name
-            #         vk = key.value.vk
-            #     except AttributeError:
-            #         # unknown keys like headphones skip song button
-            #         name = 'UNKNOWN'
-            #         vk = key.vk
-            #     # self.get_logger().info('pressed {} ({})'.format(name, vk))
-            #     if vk == 32:
-            #         self.get_logger().info('up')
-            #         self.send_request(pitch=0.0, yaw=0.0, roll=0.0, thrust=0.05)
-            #     if vk == 65505:
-            #         self.get_logger().info('down')
-            #         self.send_request(pitch=0.0, yaw=0.0,
-            #                           roll=0.0, thrust=-0.05)
+                self.stop()
+            if key == '1':
+                self.get_logger().info('attitude control')
+                self.control_mode = CONTROL_MODE_ATTITUDE
+                self.send_control_mode()
+            if key == '2':
+                self.get_logger().info('velocity control')
+                self.control_mode = CONTROL_MODE_VELOCITY
+                self.send_control_mode()
+            if key == '3':
+                self.get_logger().info('position control')
+                self.control_mode = CONTROL_MODE_POSITION
+                self.send_control_mode()
+            if key == '/':
+                self.get_logger().info('arming')
+                self.send_arm()
 
         except Exception as e:
             self.get_logger().error(str(e))