def csv2rosbag(csvPath, outputBag):
"""
Creates a ROS bag file from a CSV file.
In this script, only the time and altitude informations written into the ROS bag.
"""
log = pd.read_csv(csvPath)
try:
with rosbag.Bag(outputBag, 'w') as bag:
for row in range(log.shape[0]):
# Populate the data elements for time in seconds
timestamp = rospy.Time.from_sec(log['Time(seconds)'][row])
altitude_msg = Altitude()
altitude_msg.header.stamp = timestamp
# Populate the data elements for altitude in meters
# e.g. altitude_msg.relative = df['Relative'][row]
altitude_msg.local = log['Altitude(meters)'][row]
bag.write(TOPIC, altitude_msg, timestamp)
print(bag)
except:
print("Error: Unable to open CSV file!")
sys.exit()
finally:
bag.close()
def __init__(self, _threaded_mode = False):
self.data_dir = "/tmp/BHG_DATA"
self.csv_filename = "default_data.csv"
self.datetimeData = ""
self.is_recording = False
self.rel_alt = Altitude()
self.gps_fix = NavSatFix()
self.odom = Odometry()
self.imu_mag = MagneticField()
self.imu_data = Imu()
self.vel_gps = TwistStamped()
self.temp_imu = Temperature()
self.trigtime = "TrigTimeNotSet"
self.arduino_dev = rospy.get_param('~arduino_dev', '/dev/ttyACM0')
self.arduino_timeout = rospy.get_param('~arduino_timeout', 2)
self.ardunio_ser = ''
self.pub = rospy.Publisher('trig_timer', String, queue_size=10)
rospy.Subscriber('/directory', String, self.directory_callback)
rospy.Subscriber("/record", Bool, self.record_callback)
rospy.Subscriber("/mavros/altitude", Altitude, self.alt_cb) # change to /global_position/rel_alt Float64
rospy.Subscriber("/mavros/global_position/global", NavSatFix, self.gps_cb)
rospy.Subscriber("/mavros/global_position/local", Odometry, self.odom_cb)
rospy.Subscriber("/mavros/imu/mag", MagneticField, self.mag_cb)
rospy.Subscriber("/mavros/imu/data", Imu, self.imu_cb)
rospy.Subscriber("/mavros/global_position/raw/gps_vel", TwistStamped, self.vel_cb)
rospy.Subscriber("/mavros/imu/temperature_imu", Temperature, self.temp_cb)
def setUp(self):
self.altitude = Altitude()
self.extended_state = ExtendedState()
self.global_position = NavSatFix()
self.home_position = HomePosition()
self.local_position = PoseStamped()
self.mission_wp = WaypointList()
self.state = State()
self.mav_type = None
self.sub_topics_ready = {
key: False
for key in [
'alt', 'ext_state', 'global_pos', 'home_pos', 'local_pos',
'mission_wp', 'state'
]
}
# ROS services
service_timeout = 30
rospy.loginfo("waiting for ROS services")
try:
rospy.wait_for_service('mavros/param/get', service_timeout)
rospy.wait_for_service('mavros/cmd/arming', service_timeout)
rospy.wait_for_service('mavros/mission/push', service_timeout)
rospy.wait_for_service('mavros/mission/clear', service_timeout)
rospy.wait_for_service('mavros/set_mode', service_timeout)
rospy.loginfo("ROS services are up")
except rospy.ROSException:
self.fail("failed to connect to services")
self.get_param_srv = rospy.ServiceProxy('mavros/param/get', ParamGet)
self.set_arming_srv = rospy.ServiceProxy('/mavros/cmd/arming',
CommandBool)
self.set_mode_srv = rospy.ServiceProxy('mavros/set_mode', SetMode)
self.wp_clear_srv = rospy.ServiceProxy('mavros/mission/clear',
WaypointClear)
self.wp_push_srv = rospy.ServiceProxy('mavros/mission/push',
WaypointPush)
# ROS subscribers
self.alt_sub = rospy.Subscriber('mavros/altitude', Altitude,
self.altitude_callback)
self.ext_state_sub = rospy.Subscriber('mavros/extended_state',
ExtendedState,
self.extended_state_callback)
self.global_pos_sub = rospy.Subscriber('mavros/global_position/global',
NavSatFix,
self.global_position_callback)
self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
HomePosition,
self.home_position_callback)
self.local_pos_sub = rospy.Subscriber('mavros/local_position/pose',
PoseStamped,
self.local_position_callback)
self.mission_wp_sub = rospy.Subscriber('mavros/mission/waypoints',
WaypointList,
self.mission_wp_callback)
self.state_sub = rospy.Subscriber('mavros/state', State,
self.state_callback)
def setUp(self):
self.rate = rospy.Rate(10) # 10hz
self.has_global_pos = False
self.global_position = NavSatFix()
self.extended_state = ExtendedState()
self.altitude = Altitude()
self.state = State()
self.mc_rad = 5
self.fw_rad = 60
self.fw_alt_rad = 10
self.last_alt_d = None
self.last_pos_d = None
self.mission_name = ""
self.sub_topics_ready = {
key: False
for key in ['global_pos', 'home_pos', 'ext_state', 'alt', 'state']
}
# setup ROS topics and services
try:
rospy.wait_for_service('mavros/mission/push', 30)
rospy.wait_for_service('mavros/cmd/arming', 30)
rospy.wait_for_service('mavros/set_mode', 30)
except rospy.ROSException:
self.fail("failed to connect to mavros services")
self.wp_push_srv = rospy.ServiceProxy('mavros/mission/push',
WaypointPush)
self.set_arming_srv = rospy.ServiceProxy('/mavros/cmd/arming',
CommandBool)
self.set_mode_srv = rospy.ServiceProxy('/mavros/set_mode', SetMode)
self.global_pos_sub = rospy.Subscriber('mavros/global_position/global',
NavSatFix,
self.global_position_callback)
self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
HomePosition,
self.home_position_callback)
self.ext_state_sub = rospy.Subscriber('mavros/extended_state',
ExtendedState,
self.extended_state_callback)
self.alt_sub = rospy.Subscriber('mavros/altitude', Altitude,
self.altitude_callback)
self.state_sub = rospy.Subscriber('mavros/state', State,
self.state_callback)
self.mavlink_pub = rospy.Publisher('mavlink/to', Mavlink, queue_size=1)
# need to simulate heartbeat to prevent datalink loss detection
self.hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(
mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
self.hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
self.hb_ros_msg = mavlink.convert_to_rosmsg(self.hb_mav_msg)
self.hb_thread = Thread(target=self.send_heartbeat, args=())
self.hb_thread.daemon = True
self.hb_thread.start()
def __init__(self, index):
self.uav_index = index
# #Subscribe to its global position topic
# self.global_position = NavSatFix()
# self.global_sub_name = "/uav{0}/mavros/global_position/global".format(index)
# self.global_sub = rospy.Subscriber(self.global_sub_name,
# NavSatFix, self.global_position_callback)
# rospy.loginfo("UAV{0} global_position subscribed".format(index))
#Subscribe to its local position topic
self.local_pose = PoseStamped()
self.local_pose_sub_name = "/uav{0}/mavros/local_position/pose".format(
index)
self.local_pose_sub = rospy.Subscriber(self.local_pose_sub_name,
PoseStamped,
self.local_pose_callback)
rospy.loginfo("UAV{0} position subscribed".format(index))
#Subscribe to its altitude topic
self.altitude = Altitude()
self.altitude_sub_name = "/uav{0}/mavros/altitude".format(index)
self.altitude_sub = rospy.Subscriber(self.altitude_sub_name, Altitude,
self.altitude_callback)
rospy.loginfo("UAV{0} altitude subscribed".format(index))
#Publish the required velocity_control topic
self.vel_cont = Twist()
self.vel_pub_name = "/uav{0}/vel_control_topic".format(index)
self.vel_pub = rospy.Publisher(self.vel_pub_name, Twist, queue_size=10)
rospy.loginfo("UAV{0} Vel_Control publisher set up".format(index))
#Set up initial Twist message
self.vel_cont.linear.x = 0.0
self.vel_cont.linear.y = 0.0
self.vel_cont.linear.z = 50.0
self.vel_cont.angular.x = 0.0
self.vel_cont.angular.y = 0.0
self.vel_cont.angular.z = 0.0
#Publish in a separate thread to better prevent failsafe
self.pub_thread = Thread(target=self.publish_topic, args=())
self.pub_thread.daemon = True
self.pub_thread.start()
#Set current position
self.curr_pose = self.local_pose.pose
#Set current altitude
self.curr_alt = self.altitude.local
def csv2rosbag(csvFile, outputFile):
log = pd.read_csv(csvFile)
try:
with rosbag.Bag(outputFile, 'w') as bag:
for row in range(log.shape[0]):
timestamp = rospy.Time.from_sec(log['Time(seconds)'][row])
altitude_msg = Altitude()
altitude_msg.header.stamp = timestamp
altitude_msg.local = (log['Altitude(meters)'][row])
# Populate the data elements for IMU
# e.g. imu_msg.angular_velocity.x = df['a_v_x'][row]
bag.write(TOPIC, altitude_msg, timestamp)
print(bag)
finally:
bag.close()
def test_post_telemetry(self):
"""Tests posting telemetry data through client."""
# Set up test data.
url = "http://interop"
client_args = (url, "testuser", "testpass", 1.0)
with InteroperabilityMockServer(url) as server:
# Setup mock server.
server.set_root_response()
server.set_login_response()
server.set_telemetry_response()
# Connect client.
pose_stamped = PoseStamped()
pose_stamped.pose.orientation.w = 1.0
client = InteroperabilityClient(*client_args)
client.wait_for_server()
client.login()
client.post_telemetry(NavSatFix(), Altitude(), pose_stamped)
def test_telemetry_serializer(self):
"""Tests telemetry serializer."""
# Set up test data.
navsat = NavSatFix()
navsat.latitude = 38.149
navsat.longitude = -76.432
altitude = Altitude()
altitude.amsl = 30.48
pose_stamped = PoseStamped()
pose_stamped.pose.orientation.w = 1.0
data = serializers.TelemetrySerializer.from_msg(
navsat, altitude, pose_stamped)
altitude_msl = serializers.meters_to_feet(altitude.amsl)
# Compare.
self.assertEqual(data["latitude"], navsat.latitude)
self.assertEqual(data["longitude"], navsat.longitude)
self.assertEqual(data["altitude_msl"], altitude_msl)
self.assertEqual(data["uas_heading"], 90.0)
def __init__(self):
rospy.init_node('OffboardPosCtl', anonymous=True)
self.pos = PoseStamped()
self.altitude = Altitude()
self.imu_data = Imu()
self.state = State()
self.radius = 1
self.pos_setpoint_pub = rospy.Publisher(
'mavros/setpoint_position/local', PoseStamped, queue_size=1)
self.alt_sub = rospy.Subscriber('mavros/altitude', Altitude,
self.altitude_callback)
self.imu_data_sub = rospy.Subscriber('mavros/imu/data', Imu,
self.imu_data_callback)
self.pos_sub = rospy.Subscriber('mavros/pos/pose', PoseStamped,
self.position_callback)
self.state_sub = rospy.Subscriber('mavros/state', State,
self.state_callback)
self.get_param_srv = rospy.ServiceProxy('mavros/param/get', ParamGet)
self.set_arming_srv = rospy.ServiceProxy('mavros/cmd/arming',
CommandBool)
self.set_mode_srv = rospy.ServiceProxy('mavros/set_mode', SetMode)
def __init__(self):
self.state = State()
self.altitude = Altitude()
self.global_position = HomePosition()
self.local_position = PoseStamped() #fcu local position
self.local_position_odom = Odometry()
self.extended_state = ExtendedState()
self.mode = ''
self.rate = rospy.Rate(10)
self.service_timeout = 30
self.offboard_request_threshold = rospy.Duration(5.0)
self.arming_request_threshold = rospy.Duration(5.0)
self.imu = Imu()
self.current_yaw = None
self.setup_pubsub()
self.setup_services()
self.current_target_pose = PositionTarget()
self.current_pose = Point()
self.home_pose = Point(0.0,0.0,0.0)
self.waypoint_1 = Point(0.0,0.0,3.0)
self.should_start_mission = False
def __init__(self):
self.altitude = Altitude()
self.extended_state = ExtendedState()
self.global_position = NavSatFix()
self.local_position = PoseStamped()
self.state = State()
self.mav_type = None
self.prev_position_x = 0
self.prev_position_y = 0
self.prev_position_z = 0
self.drift_x = 0
self.drift_y = 0
self.drift_z = 0
self.drift_threshold = 0.07
self.IsDrift = False
self.sub_topics_ready = {
key: False
for key in
['alt', 'ext_state', 'global_pos', 'local_pos', 'state']
}
# ROS services
service_timeout = 30
rospy.loginfo("waiting for ROS services")
try:
rospy.wait_for_service('mavros/param/get', service_timeout)
rospy.wait_for_service('mavros/cmd/arming', service_timeout)
rospy.wait_for_service('mavros/mission/push', service_timeout)
rospy.wait_for_service('mavros/mission/clear', service_timeout)
rospy.wait_for_service('mavros/set_mode', service_timeout)
rospy.loginfo("ROS services are up")
except rospy.ROSException:
self.fail("failed to connect to services")
self.get_param_srv = rospy.ServiceProxy('mavros/param/get', ParamGet)
self.set_arming_srv = rospy.ServiceProxy('mavros/cmd/arming',
CommandBool)
self.set_mode_srv = rospy.ServiceProxy('mavros/set_mode', SetMode)
self.alt_sub = rospy.Subscriber('mavros/altitude', Altitude,
self.altitude_callback)
self.global_pos_sub = rospy.Subscriber('mavros/global_position/global',
NavSatFix,
self.global_position_callback)
self.local_pos_sub = rospy.Subscriber('mavros/local_position/pose',
PoseStamped,
self.local_position_callback)
self.state_sub = rospy.Subscriber('mavros/state', State,
self.state_callback)
self.ext_state_sub = rospy.Subscriber('mavros/extended_state',
ExtendedState,
self.extended_state_callback)
# Publisher
self.desired_pos = PoseStamped()
self.desired_pos.pose.position.x = 0
self.desired_pos.pose.position.y = 0
self.desired_pos.pose.position.z = 0
self.radius = 0.3
self.yaw_th = 0.05
self.z_in = 0.1
self.z_ub = 2.7 # Height upper bound
self.z_lb = 0.5 # Height lower bound
self.pos_setpoint_pub = rospy.Publisher(
'mavros/setpoint_position/local', PoseStamped, queue_size=1)
# send setpoints in seperate thread to better prevent failsafe
self.pos_thread = Thread(target=self.send_pos, args=())
self.pos_thread.daemon = True
self.pos_thread.start()
#local_position callback function
def local_pose_callback(data):
local_pose = data
#altitude callback function
def altitude_callback(data):
altitude = data
if __name__ == "__main__":
#Set up prob_dist node
rospy.init_node("Prob_Dist_node", anonymous = True)
rospy.loginfo("Set up Probability Distribution Node")
#UAV0
#Subscribe to current position
local_pose = PoseStamped()
local_pose_sub = rospy.Subscriber("/uav0/mavros/local_position/pose",
PoseStamped, local_pose_callback)
#Subscribe to current altitude
altitude = Altitude()
altitude_sub = rospy.Subscriber("/uav0/mavros/altitude",
Altitude, altitude_callback)
#Subscribe to detection accuracies
#We consider that the detection accuracy will be provided by us directly
#Gaussian heuristic function based on height and detection accuracy
#Spin
rospy.spin()
def __init__(self):
self.altitude = Altitude()
self.extended_state = ExtendedState()
self.global_position = NavSatFix()
self.imu_data = Imu()
self.home_position = HomePosition()
self.local_position = PoseStamped()
self.mission_wp = WaypointList()
self.state = State()
self.mav_type = None
self.pos = PoseStamped()
self.radius = 1
self.sub_topics_ready = {
key: False
for key in [
'alt', 'ext_state', 'global_pos', 'home_pos', 'local_pos',
'mission_wp', 'state', 'imu'
]
}
# ROS services
service_timeout = 30
rospy.loginfo("waiting for ROS services")
try:
rospy.wait_for_service('mavros/param/get', service_timeout)
rospy.wait_for_service('mavros/cmd/arming', service_timeout)
rospy.wait_for_service('mavros/mission/push', service_timeout)
rospy.wait_for_service('mavros/mission/clear', service_timeout)
rospy.wait_for_service('mavros/set_mode', service_timeout)
rospy.loginfo("ROS services are up")
except rospy.ROSException:
self.fail("failed to connect to services")
self.get_param_srv = rospy.ServiceProxy('mavros/param/get', ParamGet)
self.set_arming_srv = rospy.ServiceProxy('mavros/cmd/arming',
CommandBool)
self.set_mode_srv = rospy.ServiceProxy('mavros/set_mode', SetMode)
self.wp_clear_srv = rospy.ServiceProxy('mavros/mission/clear',
WaypointClear)
self.wp_push_srv = rospy.ServiceProxy('mavros/mission/push',
WaypointPush)
# ROS subscribers
self.alt_sub = rospy.Subscriber('mavros/altitude', Altitude,
self.altitude_callback)
self.ext_state_sub = rospy.Subscriber('mavros/extended_state',
ExtendedState,
self.extended_state_callback)
self.global_pos_sub = rospy.Subscriber('mavros/global_position/global',
NavSatFix,
self.global_position_callback)
self.imu_data_sub = rospy.Subscriber('mavros/imu/data', Imu,
self.imu_data_callback)
self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
HomePosition,
self.home_position_callback)
self.local_pos_sub = rospy.Subscriber('mavros/local_position/pose',
PoseStamped,
self.local_position_callback)
self.mission_wp_sub = rospy.Subscriber('mavros/mission/waypoints',
WaypointList,
self.mission_wp_callback)
self.state_sub = rospy.Subscriber('mavros/state', State,
self.state_callback)
# ROS publisher
self.pos_setpoint_pub = rospy.Publisher(
'mavros/setpoint_position/local', PoseStamped, queue_size=1)
self.pos_thread = Thread(target=self.send_pos, args=())
self.pos_thread.daemon = True
self.pos_thread.start()
def __init__(self,
ros_rate=10, # slow as nothing happens in the main loop
state_estimation_mode=State_estimation_method.GPS,
enforce_height_mode_flag=False,
height_mode_req=0,
):
self.sem = state_estimation_mode
self._node_alive = True
self.ros_rate = ros_rate
self.wd_initialised = False
self.wd_fault_detected = False
self.fault_this_loop = False
# initialise data containers
self.altitude = Altitude()
self.altitude_bottom_clearance = Float32()
self.extended_state = ExtendedState()
self.global_position = NavSatFix()
self.optic_flow_raw = OpticalFlowRad()
self.optic_flow_range = Range()
self.home_position = HomePosition()
self.local_position = PoseStamped()
# self.gt_position = PoseStamped()
self.mission_wp = WaypointList()
self.state = State()
self.mocap_pose = PoseStamped()
self.camera_pose = PoseStamped()
self.camera_yaw = None
self.local_x = Float64().data
self.local_y = Float64().data
self.local_z = Float64().data
self.gt_x = Float64().data
self.gt_y = Float64().data
self.gt_z = Float64().data
# todo - we can probably live with just XX_vel_bod data?:
self.x_vel = Float64().data
self.y_vel = Float64().data
self.gt_x_vel = Float64().data
self.gt_y_vel = Float64().data
self.vel_ts = Float64().data
self.xy_vel = Float64().data
self.x_vel_bod = Float64().data
self.y_vel_bod = Float64().data
self.xy_vel_bod = Float64().data
self.body_yaw_rate = Float64().data
self.global_compass_hdg_deg = Float64().data
self.enforce_height_mode_flag = enforce_height_mode_flag
self.height_mode_req = height_mode_req
# threading locks
self.setpoint_lock = Lock() # used for setting lock in our setpoint publisher so that commands aren't mixed
# ROS services
service_timeout = 10
rospy.loginfo("Searching for mavros services")
try:
rospy.wait_for_service('mavros/param/get', service_timeout)
rospy.wait_for_service('mavros/param/set', service_timeout)
rospy.wait_for_service('mavros/cmd/arming', service_timeout)
rospy.wait_for_service('mavros/mission/push', service_timeout)
rospy.wait_for_service('mavros/mission/clear', service_timeout)
rospy.wait_for_service('mavros/set_mode', service_timeout)
rospy.wait_for_service('mavros/set_mode', service_timeout)
rospy.wait_for_service('/mavros/cmd/set_home')
# rospy.wait_for_service('mavros/fcu_url', service_timeout) # todo - check how this is used in px4
self.get_param_srv = rospy.ServiceProxy('mavros/param/get', ParamGet)
self.set_param_srv = rospy.ServiceProxy('mavros/param/set', ParamSet)
self.set_arming_srv = rospy.ServiceProxy('mavros/cmd/arming', CommandBool)
self.set_mode_srv = rospy.ServiceProxy('mavros/set_mode', SetMode)
self.wp_clear_srv = rospy.ServiceProxy('mavros/mission/clear', WaypointClear)
self.wp_push_srv = rospy.ServiceProxy('mavros/mission/push', WaypointPush)
self.takeoff_srv = rospy.ServiceProxy('/mavros/cmd/takeoff', CommandTOL)
self.cmd_home_srv = rospy.ServiceProxy('/mavros/cmd/set_home', CommandHome)
rospy.loginfo("Required ROS services are up")
except rospy.ROSException:
self.shut_node_down(extended_msg="failed to connect to Mavros services - was the mavros node started?")
# make sure we have information about our connection with FCU
rospy.loginfo("Get our fcu string")
try:
self.fcu_url = rospy.get_param('mavros/fcu_url')
except Exception as e:
print (e)
self.shut_node_down(extended_msg="cant find fcu url")
# ensure that our height mode is as we expect it to be (if required)
rospy.loginfo('check height_mode {}'.format(self.enforce_height_mode_flag))
if self.enforce_height_mode_flag:
# todo - allow multiple attempts at this
# res = self.mavros_interface.get_param_srv(param)
param_read_attempts = 0
try:
while param_read_attempts < 5:
res = self.get_param_srv('EKF2_HGT_MODE')
if res.success:
self.height_mode = res.value.integer
if self.height_mode == self.height_mode_req:
rospy.loginfo('height mode {} as expected'.format(self.height_mode))
break
else:
raise Exception ("height mode is {} - (expected heightmode is {}) change parameter with QGround control and try again".format(self.height_mode, self.height_mode_req))
break
else:
rospy.logerr( "Couldn't read EKF2_HGT_MODE param on attempt {} - trying again".format(param_read_attempts))
param_read_attempts += 1
rospy.sleep(2)
except Exception as e:
rospy.logerr(
"Couldn't read EKF2_HGT_MODE - shutting down".format(param_read_attempts))
self.shut_node_down(extended_msg= "height_mode error - traceback is {}".format(e))
# todo: ensure that our state estimation parameters are as available (this requires the state estimation
# topic name so can't test this until we do something with mocap again) Actually, we can incorporate this into
# the watchdog
# if state_estimation_mode == State_estimation_method.MOCAP:
# ROS subscribers
self.alt_sub = rospy.Subscriber('mavros/altitude', Altitude, self.altitude_callback)
self.ext_state_sub = rospy.Subscriber('mavros/extended_state',ExtendedState,self.extended_state_callback)
self.global_pos_sub = rospy.Subscriber('mavros/global_position/global',NavSatFix, self.global_position_callback)
self.optic_flow_raw_sub = rospy.Subscriber('mavros/px4flow/raw/optical_flow_raw',OpticalFlowRad, self.optic_flow_raw_callback)
self.optic_flow_range_sub = rospy.Subscriber('mavros/px4flow/ground_distance',Range,self.optic_flow_range_callback)
self.home_pos_sub = rospy.Subscriber('mavros/home_position/home', HomePosition, self.home_position_callback)
self.local_pos_sub = rospy.Subscriber('mavros/local_position/pose', PoseStamped, self.local_position_callback)
self.mission_wp_sub = rospy.Subscriber('mavros/mission/waypoints', WaypointList, self.mission_wp_callback)
self.state_sub = rospy.Subscriber('mavros/state', State, self.state_callback)
self.mocap_pos_sub = rospy.Subscriber('mavros/vision_pose/pose', PoseStamped, self.mocap_pos_callback)
# self.camera_pose_sub = rospy.Subscriber(self.camera_pose_topic_name, PoseStamped, self.cam_pose_cb)
# todo - add check for this signal to watchdog - or remap /mavros/local_position/velocity -> /mavros/local_position/velocity_local
self.velocity_local_sub = rospy.Subscriber('/mavros/local_position/velocity_local', TwistStamped, self.vel_callback)
self.velocity_body_sub = rospy.Subscriber('/mavros/local_position/velocity_body', TwistStamped, self.vel_bod_callback)
self.compass_sub = rospy.Subscriber('/mavros/global_position/compass_hdg', Float64, self.compass_hdg_callback)
self.ground_truth_sub = rospy.Subscriber('/body_ground_truth', Odometry, self.gt_position_callback)
## Ros publishers
self.local_pos_pub_raw = rospy.Publisher('mavros/setpoint_raw/local', PositionTarget, queue_size=1)
# ROS topics - this must come after our ROS subscribers
topics_timeout = 30
rospy.loginfo("waiting for ROS topics")
try:
# check that essential messages are being subscribed to regularly
for _ in np.arange(2):
rospy.wait_for_message('mavros/local_position/pose', PoseStamped, topics_timeout)
rospy.wait_for_message('mavros/extended_state', ExtendedState, topics_timeout)
except rospy.ROSException:
self.shut_node_down(extended_msg="Required ros topics not published")
rospy.loginfo("ROS topics are up")
# create a watchdog thread that checks topics are being received at the expected rates
self.watchdog_thread = Thread(target=self.watchdog, args=())
self.watchdog_thread.daemon = True
self.watchdog_thread.start()
def __init__(self, *args):
super(MavrosQuad, self).__init__(*args)
self.altitude = Altitude()
self.extended_state = ExtendedState()
self.global_position = NavSatFix()
self.home_position = HomePosition()
self.local_position = PoseStamped()
self.mission_wp = WaypointList()
self.state = State()
self.mav_type = None
self.local_velocity = TwistStamped()
self.gazebo_load_name = 'rigid_body_load_1_vehicle::rb_link'
self.gazebo_load_pose = Pose()
self.gazebo_load_twist = Twist()
self.gazebo_quad_name = 'rigid_body_load_1_vehicle::base_link_0'
self.gazebo_quad_pose = Pose()
self.gazebo_quad_twist = Twist()
self.gazebo_imu_name = 'rigid_body_load_1_vehicle::iris_0/imu_link'
self.gazebo_imu_pose = Pose()
self.gazebo_imu_twist = Twist()
self.sub_topics_ready = {
key: False
for key in [
'alt', 'ext_state', 'gazebo', 'global_pos', 'home_pos',
'local_pos', 'local_vel', 'mission_wp', 'state', 'imu'
]
}
# ROS services
service_timeout = 30
rospy.loginfo("waiting for ROS services")
try:
rospy.wait_for_service('mavros/param/get', service_timeout)
rospy.wait_for_service('mavros/cmd/arming', service_timeout)
rospy.wait_for_service('mavros/mission/push', service_timeout)
rospy.wait_for_service('mavros/mission/clear', service_timeout)
rospy.wait_for_service('mavros/set_mode', service_timeout)
rospy.loginfo("ROS services are up")
except rospy.ROSException:
rospy.logerr("failed to connect to services")
self.get_param_srv = rospy.ServiceProxy('mavros/param/get', ParamGet)
self.set_arming_srv = rospy.ServiceProxy('mavros/cmd/arming',
CommandBool)
self.set_mode_srv = rospy.ServiceProxy('mavros/set_mode', SetMode)
self.wp_clear_srv = rospy.ServiceProxy('mavros/mission/clear',
WaypointClear)
self.wp_push_srv = rospy.ServiceProxy('mavros/mission/push',
WaypointPush)
# ROS subscribers
self.alt_sub = rospy.Subscriber('mavros/altitude', Altitude,
self.altitude_callback)
self.ext_state_sub = rospy.Subscriber('mavros/extended_state',
ExtendedState,
self.extended_state_callback)
self.global_pos_sub = rospy.Subscriber('mavros/global_position/global',
NavSatFix,
self.global_position_callback)
self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
HomePosition,
self.home_position_callback)
self.local_pos_sub = rospy.Subscriber('mavros/local_position/pose',
PoseStamped,
self.local_position_callback)
self.mission_wp_sub = rospy.Subscriber('mavros/mission/waypoints',
WaypointList,
self.mission_wp_callback)
self.state_sub = rospy.Subscriber('mavros/state',
State,
self.state_callback)
self.local_vel_sub = rospy.Subscriber('mavros/local_position/velocity_local',
TwistStamped,
self.local_velocity_callback)
self.imu_sub = rospy.Subscriber('/mavros/imu/data',
Imu,
self.imu_callback)
self.gazebo_sub = rospy.Subscriber('/gazebo/link_states',
LinkStates,
self.gazebo_callback)
def __init__(self, *args):
super(MavrosQuad, self).__init__(*args)
self.altitude = Altitude()
self.extended_state = ExtendedState()
self.global_position = NavSatFix()
self.home_position = HomePosition()
self.local_position = PoseStamped()
self.mission_wp = WaypointList()
self.state = State()
self.mav_type = None
self.local_velocity = TwistStamped()
self.gazebo_load_name = 'rigid_body_load_1_vehicle::rb_link'
self.gazebo_load_pose = Pose()
self.gazebo_load_twist = Twist()
self.gazebo_quad_name = 'rigid_body_load_1_vehicle::base_link_0'
self.gazebo_quad_pose = Pose()
self.gazebo_quad_twist = Twist()
self.gazebo_imu_name = 'rigid_body_load_1_vehicle::iris_0/imu_link'
self.gazebo_imu_pose = Pose()
self.gazebo_imu_twist = Twist()
self.q_input = np.array([0, 0, 0, 1])
self.T_input = 0
self.offboard_position_active = True
self.offboard_attitude_active = False
self.offboard_load_active = False
self.sub_topics_ready = {
key: False
for key in [
'alt', 'ext_state', 'gazebo', 'global_pos', 'home_pos',
'local_pos', 'local_vel', 'mission_wp', 'state', 'imu'
]
}
# ROS services
service_timeout = 30
rospy.loginfo("waiting for ROS services")
try:
rospy.wait_for_service('mavros/param/get', service_timeout)
rospy.wait_for_service('mavros/cmd/arming', service_timeout)
rospy.wait_for_service('mavros/mission/push', service_timeout)
rospy.wait_for_service('mavros/mission/clear', service_timeout)
rospy.wait_for_service('mavros/set_mode', service_timeout)
rospy.loginfo("ROS services are up")
except rospy.ROSException:
rospy.logerr("failed to connect to services")
self.get_param_srv = rospy.ServiceProxy('mavros/param/get', ParamGet)
self.set_arming_srv = rospy.ServiceProxy('mavros/cmd/arming',
CommandBool)
self.set_mode_srv = rospy.ServiceProxy('mavros/set_mode', SetMode)
self.wp_clear_srv = rospy.ServiceProxy('mavros/mission/clear',
WaypointClear)
self.wp_push_srv = rospy.ServiceProxy('mavros/mission/push',
WaypointPush)
# ROS subscribers
self.alt_sub = rospy.Subscriber('mavros/altitude', Altitude,
self.altitude_callback)
self.ext_state_sub = rospy.Subscriber('mavros/extended_state',
ExtendedState,
self.extended_state_callback)
self.global_pos_sub = rospy.Subscriber('mavros/global_position/global',
NavSatFix,
self.global_position_callback)
self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
HomePosition,
self.home_position_callback)
self.local_pos_sub = rospy.Subscriber('mavros/local_position/pose',
PoseStamped,
self.local_position_callback)
self.mission_wp_sub = rospy.Subscriber('mavros/mission/waypoints',
WaypointList,
self.mission_wp_callback)
self.state_sub = rospy.Subscriber('mavros/state', State,
self.state_callback)
self.local_vel_sub = rospy.Subscriber(
'mavros/local_position/velocity_local', TwistStamped,
self.local_velocity_callback)
self.imu_sub = rospy.Subscriber('/mavros/imu/data', Imu,
self.imu_callback)
self.gazebo_sub = rospy.Subscriber('/gazebo/link_states', LinkStates,
self.gazebo_callback)
# ROS Publishers
# Attitude
self.att = AttitudeTarget()
self.att_setpoint_pub = rospy.Publisher('mavros/setpoint_raw/attitude',
AttitudeTarget,
queue_size=1)
# send setpoints in seperate thread to better prevent failsafe
self.att_thread = Thread(target=self.send_att, args=())
self.att_thread.daemon = True
self.att_thread.start()
# Pose
self.pos = PoseStamped()
self.pos_setpoint_pub = rospy.Publisher(
'mavros/setpoint_position/local', PoseStamped, queue_size=1)
# send setpoints in seperate thread to better prevent failsafe
self.pos_thread = Thread(target=self.send_pos, args=())
self.pos_thread.daemon = True
self.pos_thread.start()
from geometry_msgs.msg import TwistStamped
from sensor_msgs.msg import Temperature
from std_msgs.msg import Float64
# Instantiate CvBridge
bridge = CvBridge()
dataDirectory = "/home/user1/Data/" # default value changes on subscribing
# Camera directories, csv file, and bag file all go here
#now = datetime.now() # current date and time
flirSN = "FLIR18284612"
flirDirectory = ""
csvFilename = ""
datetimeData = ""
is_recording = False
rel_alt = Altitude()
gps_fix = NavSatFix()
imu_mag = MagneticField()
imu_data = Imu()
vel_gps = TwistStamped()
temp_imu = Temperature()
imageCount = 0
def make_header():
header = "filename,rostime,rel_alt.monotonic,rel_alt.amsl,rel_alt.local,rel_alt.relative,"
header += "gps_fix.status.status,gps_fix.status.service,gps_fix.latitude,gps_fix.longitude,gps_fix.altitude,"
header += "imu_data.magnetic_field.x,imu_data.magnetic_field.y,imu_data.magnetic_field.z,"
header += "imu_mag.orientation.x,imu_mag.orientation.y,imu_mag.orientation.z,imu_mag.orientation.w, imu_mag.angular_velocity.x,imu_mag.angular_velocity.y,imu_mag.angular_velocity.z,"
header += "imu_mag.linear_acceleration:.x,imu_mag.linear_acceleration:.y,imu_mag.linear_acceleration:.z,"
header += "vel_gps.twist.linear.x,vel_gps.twist.linear.y,vel_gps.twist.linear.z,"
def __init__(self):
self.altitude = Altitude()
self.extended_state = ExtendedState()
self.global_position = NavSatFix()
self.local_position = PoseStamped()
self.state = State()
self.mav_type = None
self.local_velocity = TwistStamped()
self.sub_topics_ready = {
key: False
for key in
['alt', 'ext_state', 'global_pos', 'local_pos', 'state']
}
# ROS services
service_timeout = 30
rospy.loginfo("waiting for ROS services")
try:
rospy.wait_for_service('mavros/param/get', service_timeout)
rospy.wait_for_service('mavros/cmd/arming', service_timeout)
rospy.wait_for_service('mavros/mission/push', service_timeout)
rospy.wait_for_service('mavros/mission/clear', service_timeout)
rospy.wait_for_service('mavros/set_mode', service_timeout)
rospy.loginfo("ROS services are up")
except rospy.ROSException:
self.fail("failed to connect to services")
self.get_param_srv = rospy.ServiceProxy('mavros/param/get', ParamGet)
self.set_arming_srv = rospy.ServiceProxy('mavros/cmd/arming',
CommandBool)
self.set_mode_srv = rospy.ServiceProxy('mavros/set_mode', SetMode)
# Subscribers
self.alt_sub = rospy.Subscriber('mavros/altitude', Altitude,
self.altitude_callback)
self.global_pos_sub = rospy.Subscriber('mavros/global_position/global',
NavSatFix,
self.global_position_callback)
self.local_pos_sub = rospy.Subscriber('mavros/local_position/pose',
PoseStamped,
self.local_position_callback)
self.state_sub = rospy.Subscriber('mavros/state', State,
self.state_callback)
self.ext_state_sub = rospy.Subscriber('mavros/extended_state',
ExtendedState,
self.extended_state_callback)
self.local_vel_sub = rospy.Subscriber(
'mavros/local_position/velocity_body', TwistStamped,
self.local_vel_callback)
# Publishers
self.desired_vel = TwistStamped()
self.desired_vel.twist.angular.z = 0
self.desired_vel.twist.linear.x = 0
self.desired_vel.twist.linear.y = 0
self.desired_vel.twist.linear.z = 0
#self.radius = 0.3
#self.yaw_th = 0.05
self.yaw_current = 0
self.isLand = False
self.yawrate = 0.5
self.xvel = 0.5
self.z_target = 0
self.z_in = 0.1
self.z_ub = 2.5 # Height upper bound
self.z_lb = 0.5 # Height lower bound
self.z_p_gain = 1.0
self.cmd_vel_pub = rospy.Publisher('mavros/setpoint_velocity/cmd_vel',
TwistStamped,
queue_size=1)
# send setpoints in seperate thread to better prevent failsafe
self.pos_thread = Thread(target=self.send_vel, args=())
self.pos_thread.daemon = True
self.pos_thread.start()
# Keyboard input thread
self.key_thread = Thread(target=self.keyInput, args=())
self.key_thread.daemon = True
self.key_thread.start()
def setUp(self):
print('@ctrl_server@ uav{0} setUp'.format(self.uav_number))
self.pos = PoseStamped()
self.altitude = Altitude()
self.extended_state = ExtendedState()
self.global_position = NavSatFix()
self.home_position = HomePosition()
self.local_position = PoseStamped()
self.misson_wp = WaypointList()
self.state = State()
self.scan = LaserScan()
self.mav_type = None
self.ready = False
# Target offset radius
self.radius = 0.25
self.sub_topics_ready = {
key: False
for key in [
'alt', 'ext_state', 'global_pos', 'home_pos', 'local_pos',
'mission_wp', 'state', 'scan'
]
}
# ROS services
service_timeout = 60
rospy.loginfo("waiting for ROS services")
try:
rospy.wait_for_service(self.uav_prefix + 'mavros/param/get', service_timeout)
rospy.wait_for_service(self.uav_prefix + 'mavros/cmd/arming', service_timeout)
rospy.wait_for_service(self.uav_prefix + 'mavros/mission/push', service_timeout)
rospy.wait_for_service(self.uav_prefix + 'mavros/mission/clear', service_timeout)
rospy.wait_for_service(self.uav_prefix + 'mavros/set_mode', service_timeout)
rospy.loginfo("ROS services are up")
except rospy.ROSException:
print("@ctrl_server@ failed to connect to services")
self.get_param_srv = rospy.ServiceProxy(self.uav_prefix + 'mavros/param/get',
ParamGet)
self.set_arming_srv = rospy.ServiceProxy(self.uav_prefix + 'mavros/cmd/arming',
CommandBool)
self.set_mode_srv = rospy.ServiceProxy(self.uav_prefix + 'mavros/set_mode',
SetMode)
self.wp_clear_srv = rospy.ServiceProxy(self.uav_prefix + 'mavros/mission/clear',
WaypointClear)
self.wp_push_srv = rospy.ServiceProxy(self.uav_prefix + 'mavros/mission/push',
WaypointPush)
# ROS subscribers
self.alt_sub = rospy.Subscriber(self.uav_prefix + 'mavros/altitude',
Altitude,
self.altitude_callback)
self.ext_state_sub = rospy.Subscriber(self.uav_prefix + 'mavros/extended_state',
ExtendedState,
self.extended_state_callback)
self.global_pos_sub = rospy.Subscriber(self.uav_prefix + 'mavros/global_position/global',
NavSatFix,
self.global_position_callback)
self.home_pos_sub = rospy.Subscriber(self.uav_prefix + 'mavros/home_position/home',
HomePosition,
self.home_position_callback)
self.local_pos_sub = rospy.Subscriber(self.uav_prefix + 'mavros/local_position/pose',
PoseStamped,
self.local_position_callback)
self.mission_wp_sub = rospy.Subscriber(self.uav_prefix + 'mavros/mission/waypoints',
WaypointList,
self.mission_wp_callback)
self.state_sub = rospy.Subscriber(self.uav_prefix + 'mavros/state', State,
self.state_callback)
self.get_scan_srv = rospy.Subscriber('iris_rplidar_' + self.uav_number + '/laser/scan',
LaserScan,
self.scan_callback)
# ROS publisers
self.pos_setpoint_pub = rospy.Publisher(
self.uav_prefix + 'mavros/setpoint_position/local', PoseStamped, queue_size=1)
# send setpoints in seperate thread
self.pos_thread = Thread(target=self.send_pos, args=())
self.pos_thread.daemon = True
self.pos_thread.start()
print('@ctrl_server@ setUp over')
pass