sem/5g_drone_ROS2
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print drone status arm

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Sem van der Hoeven
2023-06-06 17:17:43 +02:00
parent 4998acc7d2
commit ee79147c8c
2 changed files with 6 additions and 0 deletions
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3
src/api_communication/api_communication/api_listener.py
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@@ -378,6 +378,7 @@ class ApiListener(Node):
result = future.result() result = future.result()
if result.success: if result.success:
self.get_logger().info('Ready service call success') self.get_logger().info('Ready service call success')
# self.armed = True
else: else:
self.get_logger().error('Ready service call failed') self.get_logger().error('Ready service call failed')
except Exception as e: except Exception as e:
@@ -389,6 +390,7 @@ class ApiListener(Node):
result = future.result() result = future.result()
if result.success: if result.success:
self.get_logger().info('Arm service call success') self.get_logger().info('Arm service call success')
# self.armed = True
else: else:
self.get_logger().error('Arm service call failed') self.get_logger().error('Arm service call failed')
except Exception as e: except Exception as e:
@@ -400,6 +402,7 @@ class ApiListener(Node):
result = future.result() result = future.result()
if result.success: if result.success:
self.get_logger().info('Disarm service call success') self.get_logger().info('Disarm service call success')
self.armed = False
else: else:
self.get_logger().error('Disarm service call failed') self.get_logger().error('Disarm service call failed')
except Exception as e: except Exception as e:

3
src/drone_status/drone_status/drone_status.py
View File

@@ -72,6 +72,9 @@ class DroneStatusNode(Node):
self.control_mode = "unknown" self.control_mode = "unknown"
def arm_status_callback(self, msg): def arm_status_callback(self, msg):
print("Got arm status callback!")
if msg.armed:
print("DRONE IS ARMED")
self.armed = msg.armed self.armed = msg.armed
def route_status_callback(self, msg): def route_status_callback(self, msg):