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#!/usr/bin/env python
#***************************************************************************
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
#***************************************************************************/
#
# @author Andreas Antener <andreas@uaventure.com>
#
import sys
import rospy
from px4.msg import manual_control_setpoint
from mav_msgs.msg import CommandAttitudeThrust
from std_msgs.msg import Header
#
# Manual input control helper
#
# FIXME: this is not the way to do it! ATM it fakes input to iris/command/attitude because else
# the simulator does not instantiate our controller.
#
class ManualInput:
def __init__(self):
rospy.init_node('test_node', anonymous=True)
self.pubMcsp = rospy.Publisher('px4_multicopter/manual_control_setpoint', manual_control_setpoint, queue_size=10)
self.pubAtt = rospy.Publisher('iris/command/attitude', CommandAttitudeThrust, queue_size=10)
def arm(self):
rate = rospy.Rate(10) # 10hz
att = CommandAttitudeThrust()
att.header = Header()
pos = manual_control_setpoint()
pos.x = 0
pos.z = 0
pos.y = 0
pos.r = 0
pos.mode_switch = 3
pos.return_switch = 3
pos.posctl_switch = 3
pos.loiter_switch = 3
pos.acro_switch = 0
pos.offboard_switch = 3
count = 0
while not rospy.is_shutdown() and count < 5:
rospy.loginfo("zeroing")
time = rospy.get_rostime().now()
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
self.pubMcsp.publish(pos)
# Fake input to iris commander
self.pubAtt.publish(att)
rate.sleep()
count = count + 1
pos.r = 1
count = 0
while not rospy.is_shutdown() and count < 5:
rospy.loginfo("arming")
time = rospy.get_rostime().now()
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
self.pubMcsp.publish(pos)
rate.sleep()
count = count + 1
def posctl(self):
rate = rospy.Rate(10) # 10hz
# triggers posctl
pos = manual_control_setpoint()
pos.x = 0
pos.z = 0
pos.y = 0
pos.r = 0
pos.mode_switch = 2
pos.return_switch = 3
pos.posctl_switch = 1
pos.loiter_switch = 3
pos.acro_switch = 0
pos.offboard_switch = 3
count = 0
while not rospy.is_shutdown() and count < 5:
rospy.loginfo("triggering posctl")
time = rospy.get_rostime().now()
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
self.pubMcsp.publish(pos)
rate.sleep()
count = count + 1
def offboard(self):
rate = rospy.Rate(10) # 10hz
# triggers offboard
pos = manual_control_setpoint()
pos.x = 0
pos.z = 0
pos.y = 0
pos.r = 0
pos.mode_switch = 3
pos.return_switch = 3
pos.posctl_switch = 3
pos.loiter_switch = 3
pos.acro_switch = 0
pos.offboard_switch = 1
count = 0
while not rospy.is_shutdown() and count < 5:
rospy.loginfo("triggering offboard")
time = rospy.get_rostime().now()
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
self.pubMcsp.publish(pos)
rate.sleep()
count = count + 1
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