def __init__(self):
self.vel_control = rospy.Publisher('/position_control/set_velocity',
PoseStamped,
queue_size=10)
rospy.Subscriber('/position_control/distance', Bool,
self.distance_reached_cb)
self.mode_control = rospy.Publisher('/position_control/set_mode',
String,
queue_size=10)
print('Setting offboard')
mv_state = mavros_state.mavros_state()
mv_state.set_mode('OFFBOARD')
print('Arming vehicle')
mv_state.arm(True)
rospy.loginfo("Taking off")
self.goto_position_client = actionlib.SimpleActionClient(
'goto_position', goto_positionAction)
# Will return True or False
self.goto_position_client.wait_for_server()
self.goto_position_goal = goto_positionGoal()
self.goto_position_goal.destination.pose.position.z = 3
self.goto_position_client.send_goal(self.goto_position_goal)
self.goto_position_client.wait_for_result()
self.des_pose = PoseStamped()
self.mode_control.publish('velctr')
rospy.sleep(0.1)
# Fly back and forth
print(str(PoseStamped))
self.des_pose.pose.position.x = 0
self.des_pose.pose.position.y = 1
self.des_pose.pose.position.z = 3
self.vel_control.publish(self.des_pose)
# while not self.target_reached:
rospy.sleep(20)
while True:
print(str(PoseStamped))
self.des_pose.pose.position.x = 0
self.des_pose.pose.position.y = -2
self.des_pose.pose.position.z = 3
self.vel_control.publish(self.des_pose)
# while not self.target_reached:
rospy.sleep(20)
print('IN WHILE222')
self.des_pose.pose.position.x = 0
self.des_pose.pose.position.y = 2
self.des_pose.pose.position.z = 3
self.vel_control.publish(self.des_pose)
# while not self.target_reached:
rospy.sleep(20)
print('IN WHILE333')
def start_position_server(cls):
cls.mv_state = mavros_state.mavros_state()
# cls.mv_state = mavros_state.mavros_state()
if cls.mv_state is None:
print("!!!!!!!!!!!!!!!!!!!!!!MV_STATE DID NOT GET SET!!!!!!!!!!!!!!!!!!!!!!")
else:
print("MV_STATE got set!! :) ")
cls.mv_state.set_mode('OFFBOARD')
# rospy.loginfo('Arming vehicle')
cls.mv_state.arm(True)
rospy.Subscriber('/mavros/local_position/pose', PoseStamped, cls._local_pose_callback)
cls.goto_position_client = actionlib.SimpleActionClient('goto_position', goto_positionAction)
cls.goto_position_client.wait_for_server()
import rospy
import actionlib
import mavros_state
import time
from autonomous_offboard.msg import center_on_objectAction, center_on_objectGoal, descend_on_objectAction, descend_on_objectGoal, detect_objectAction, detect_objectGoal, goto_positionAction, goto_positionGoal, short_grippersAction, short_grippersGoal, long_grippersAction, long_grippersGoal, coverageAction, coverageGoal
from std_msgs.msg import Float32
from geometry_msgs.msg import PoseStamped
if __name__ == '__main__':
rospy.init_node('action_controller_test')
goto_position_client = actionlib.SimpleActionClient('goto_position', goto_positionAction)
goto_position_client.wait_for_server()
goto_position_goal = goto_positionGoal()
mv_state = mavros_state.mavros_state()
print 'Setting offboard'
mv_state.set_mode('OFFBOARD')
print 'Arming vehicle'
mv_state.arm(True)
rospy.loginfo("Taking off")
time.sleep(10)
rospy.loginfo("First position")
goto_position_goal.destination.pose.position.x = 20
goto_position_goal.destination.pose.position.y = 0
goto_position_goal.destination.pose.position.z = 3
goto_position_client.send_goal(goto_position_goal)
goto_position_client.wait_for_result()
time.sleep(10)