def turn_drone_left(self):
cmd = DroneMovementCommand()
cmd.movement_command = G.TURN_LEFT
self.drone_command_pub.publish(cmd)
rospy.sleep(1.0)
def failsafe(self):
cmd = DroneMovementCommand()
cmd.movement_command = G.DO_EMERGENCY
self.drone_command_pub.publish(cmd)
print('Failed Safely')
def move_drone_right(self):
cmd = DroneMovementCommand()
cmd.movement_command = G.GO_RIGHT
self.drone_command_pub.publish(cmd)
rospy.sleep(1.0)
def move_drone_backwards(self):
cmd = DroneMovementCommand()
cmd.movement_command = G.GO_BACKWARD
self.drone_command_pub.publish(cmd)
rospy.sleep(1.0)
def move_drone_forward(self):
cmd = DroneMovementCommand()
cmd.movement_command = G.GO_FORWARD
self.drone_command_pub.publish(cmd)
rospy.sleep(1.0)
def land_drone(self):
cmd = DroneMovementCommand()
cmd.movement_command = G.DO_LAND
self.drone_command_pub.publish(cmd)
rospy.sleep(1.0)
def takeoff_drone(self):
cmd = DroneMovementCommand()
cmd.movement_command = G.DO_TAKEOFF
self.drone_command_pub.publish(cmd)
rospy.sleep(1.0)