direc[0] = 5 #izquierda
elif (mag[0] >= -0.05) and (mag[0] <= 0.05):
direc[0] = 1
#print direc[0]
#print frec[0]
rospy.init_node('inter')
sub_Navdata = rospy.Subscriber('/ardrone/ctrl_inter', Control, ReceiveData)
pub_Ctrl = rospy.Publisher('/ardrone/ctrl_interno', Control)
r = rospy.Rate(frec[0])
while not rospy.is_shutdown():
if direc[0] == 1:
#time.sleep(0.5)
hola = Control()
hola.magnitud = mag[0]
hola.direccion = direc[0]
pub_Ctrl.publish(hola)
elif direc[0] == 5:
hola = Control()
hola.magnitud = mag[0]
hola.direccion = direc[0]
pub_Ctrl.publish(hola)
elif direc[0] == 6:
hola = Control()
hola.magnitud = mag[0]
hola.direccion = direc[0]
pub_Ctrl.publish(hola)
r.sleep()
# from the AR Drone
import roslib
import rospy
roslib.load_manifest('ardrone_test')
# Import the messages we're interested in
from ardrone_test.msg import Control
#messages = [1.0,1,0.5,2,0.3,3,0.7,4,0.5,5,0.8,6,1.0,1,0.5,2,0.3,3,0.7,4,0.5,5,0.8,6,1.0,1,0.5,2,0.3,3,0.7,4,0.5,5,0.8,6,1.0,1,0.5,2,0.3,3,0.7,4,0.5,5,0.8,6,1.0,1,0.5,2,0.3,3,0.7,4,0.5,5,0.8,6,1.0,1,0.5,2,0.3,3,0.7,4,0.5,5,0.8,6]
messages = [0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1,0.0,1]
rospy.init_node('ctrl_inter')
pub_Average = rospy.Publisher('/ardrone/ctrl_inter',Control)
a = 0
b = 1
r = rospy.Rate(1)
while not rospy.is_shutdown():
c = 1
envia = Control()
if c < len(messages):
envia.magnitud = messages[a]
envia.direccion = messages[b]
a = a + 2
b = b + 2
c = c + 1
pub_Average.publish(envia)
r.sleep()
