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actually send control mode

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Sem van der Hoeven
2023-05-12 17:33:02 +02:00
parent a670aa8c1a
commit f58fb50f26
1 changed files with 5 additions and 2 deletions
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7
src/test_controls/test_controls/test_controller.py
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@@ -31,7 +31,7 @@ class TestController(Node):
self.arm_publisher = self.create_publisher(Empty, '/drone/arm', 10)
self.get_logger().info("Controls:1 - 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")
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")
def spin(self):
while rclpy.ok():
@@ -219,12 +219,15 @@ class TestController(Node):
if key == '1':
self.get_logger().info('attitude control')
self.control_mode = 1
self.send_control_mode()
if key == '2':
self.get_logger().info('velocity control')
self.control_mode = 2
if key == '1':
self.send_control_mode()
if key == '3':
self.get_logger().info('position control')
self.control_mode = 3
self.send_control_mode()
if key == '/':
self.get_logger().info('arming')
self.arm_publisher.publish(Empty())