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

test

Browse Source
This commit is contained in:
Sem van der Hoeven
2023-05-12 17:42:54 +02:00
parent 5654e44088
commit eb599f7641
1 changed files with 1 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
src/test_controls/test_controls/test_controller.py
View File

@@ -24,14 +24,10 @@ class TestController(Node):
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.arm_cli = self.create_client(Empty, '/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.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)
@@ -41,13 +37,7 @@ class TestController(Node):
while rclpy.ok():
asyncio.run(listen_keyboard_manual(on_press=self.on_press))
rclpy.spin_once(self, timeout_sec=0.1)
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')
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)