def my_code():
act = ActuatorControl()
act.header = Header()
act.controls[0] = 0.0 #ros_roll
act.controls[1] = 0.0 #ros_pitch
act.controls[2] = 1 #ros_yaw
act.controls[3] = 0.5 #ros_throttle
act.controls[4] = 0.0
act.controls[5] = 0.0
act.controls[6] = 0.0
act.controls[7] = 0.0
while not rospy.is_shutdown():
pub_act.publish(act)
def set_act(self, group, output, freq):
"""
Offboard method that sets the values of the mixers and/or actuators of the vehicle.
Parameters
----------
group: int
Desired control group.
output : list
Desired output values for the mixers and/or actuators of the drone.
freq : float
Topic publishing frequency, in Hz.
"""
pub = rospy.Publisher(self.info.drone_ns + '/mavros/actuator_control',
ActuatorControl,
queue_size=1)
msg = ActuatorControl()
msg.header = Header()
msg.header.stamp = rospy.Time.now()
msg.group_mix = group
msg.controls = output
pub.publish(msg)
rate = rospy.Rate(freq)
rate.sleep()
armService(True)
except rospy.ServiceException, e:
print "Service arm call failed: %s" % e
rospy.wait_for_service('/mavros/set_mode')
try:
flightModeService = rospy.ServiceProxy('/mavros/set_mode',
mavros_msgs.srv.SetMode)
#http://wiki.ros.org/mavros/CustomModes for custom modes
isModeChanged = flightModeService(
custom_mode='OFFBOARD') #return true or false
except rospy.ServiceException, e:
print "service set_mode call failed: %s. GUIDED Mode could not be set. Check that GPS is enabled" % e
act = ActuatorControl()
act.header = Header()
act.controls[0] = 0.0 #ros_roll
act.controls[1] = 0.0 #ros_pitch
act.controls[2] = 0.0 + 0.2 #ros_yaw+offset
act.controls[3] = 0.0 #ros_throttle
act.controls[4] = 0.0
act.controls[5] = 0.0
act.controls[6] = 0.0
act.controls[7] = 0.0
while not rospy.is_shutdown():
pub_act.publish(act)
act.controls[2] = 0.0 + 0.2 #ros_yaw+offset
act.controls[3] = 0.5 #ros_throttle
rate.sleep()
