def setUp(self):
rospy.init_node('test_node', anonymous=True)
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback)
self.pub_spt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
self.rate = rospy.Rate(10) # 10hz
self.has_pos = False
self.local_position = vehicle_local_position()
self.control_mode = vehicle_control_mode()
def setUp(self):
rospy.init_node('test_node', anonymous=True)
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
self.pub_spt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10)
self.rate = rospy.Rate(10) # 10hz
self.has_pos = False
self.local_position = PoseStamped()
self.control_mode = vehicle_control_mode()
def setUp(self):
rospy.init_node('test_node', anonymous=True)
rospy.wait_for_service('iris/mavros/cmd/arming', 30)
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
self.pub_att = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10)
self.pub_thr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10)
self.rate = rospy.Rate(10) # 10hz
self.has_pos = False
self.control_mode = vehicle_control_mode()
self.local_position = PoseStamped()
def setUp(self):
rospy.init_node('test_node', anonymous=True)
rospy.wait_for_service('mavros/cmd/arming', 30)
rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
rospy.Subscriber("mavros/position/local", PoseStamped, self.position_callback)
self.pubSpt = rospy.Publisher('mavros/setpoint/local_position', PoseStamped, queue_size=10)
self.cmdArm = rospy.ServiceProxy("mavros/cmd/arming", CommandBool)
self.rate = rospy.Rate(10) # 10hz
self.rateSec = rospy.Rate(1)
self.hasPos = False
self.controlMode = vehicle_control_mode()
def setUp(self):
rospy.init_node('test_node', anonymous=True)
self.helper = PX4TestHelper("mavros_offboard_posctl_test")
self.helper.setUp()
rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
rospy.Subscriber("mavros/local_position/local", PoseStamped, self.position_callback)
self.pub_spt = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
self.rate = rospy.Rate(10) # 10hz
self.has_pos = False
self.local_position = PoseStamped()
self.control_mode = vehicle_control_mode()
def setUp(self):
rospy.init_node('test_node', anonymous=True)
self.helper = PX4TestHelper("direct_offboard_posctl_test")
self.helper.setUp()
rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback)
self.sub_vlp = rospy.Subscriber("vehicle_local_position", vehicle_local_position, self.position_callback)
self.pub_spt = rospy.Publisher('position_setpoint_triplet', position_setpoint_triplet, queue_size=10)
self.rate = rospy.Rate(10) # 10hz
self.has_pos = False
self.local_position = vehicle_local_position()
self.control_mode = vehicle_control_mode()
def setUp(self):
rospy.init_node('test_node', anonymous=True)
rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode,
self.vehicle_control_mode_callback)
rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position,
self.position_callback)
self.pub_spt = rospy.Publisher('iris/position_setpoint_triplet',
position_setpoint_triplet,
queue_size=10)
self.rate = rospy.Rate(10) # 10hz
self.has_pos = False
self.local_position = vehicle_local_position()
self.control_mode = vehicle_control_mode()
def setUp(self):
rospy.init_node('test_node', anonymous=True)
self.helper = PX4TestHelper("mavros_offboard_posctl_test")
self.helper.setUp()
rospy.Subscriber('vehicle_control_mode', vehicle_control_mode,
self.vehicle_control_mode_callback)
rospy.Subscriber("mavros/local_position/local", PoseStamped,
self.position_callback)
self.pub_spt = rospy.Publisher('mavros/setpoint_position/local',
PoseStamped,
queue_size=10)
self.rate = rospy.Rate(10) # 10hz
self.has_pos = False
self.local_position = PoseStamped()
self.control_mode = vehicle_control_mode()
def setUp(self):
rospy.init_node('test_node', anonymous=True)
rospy.wait_for_service('mavros/cmd/arming', 30)
rospy.Subscriber('px4_multicopter/vehicle_control_mode',
vehicle_control_mode,
self.vehicle_control_mode_callback)
rospy.Subscriber("mavros/position/local", PoseStamped,
self.position_callback)
self.pubSpt = rospy.Publisher('mavros/setpoint/local_position',
PoseStamped,
queue_size=10)
self.cmdArm = rospy.ServiceProxy("mavros/cmd/arming", CommandBool)
self.rate = rospy.Rate(10) # 10hz
self.rateSec = rospy.Rate(1)
self.hasPos = False
self.controlMode = vehicle_control_mode()
def setUp(self):
rospy.init_node('test_node', anonymous=True)
self.helper = PX4TestHelper("direct_offboard_posctl_test")
self.helper.setUp()
rospy.Subscriber('vehicle_control_mode', vehicle_control_mode,
self.vehicle_control_mode_callback)
self.sub_vlp = rospy.Subscriber("vehicle_local_position",
vehicle_local_position,
self.position_callback)
self.pub_spt = rospy.Publisher('position_setpoint_triplet',
position_setpoint_triplet,
queue_size=10)
self.rate = rospy.Rate(10) # 10hz
self.has_pos = False
self.local_position = vehicle_local_position()
self.control_mode = vehicle_control_mode()
def setUp(self):
self.actuator_status = actuator_armed()
self.control_mode = vehicle_control_mode()
def setUp(self):
self.actuator_status = actuator_armed()
self.control_mode = vehicle_control_mode()
