def pg_user(request, new_delivery):
delivery_queue.append(new_delivery)
lat, lon = ast.literal_eval(new_delivery)
rospy.init_node("land_test")
pv = velocity_goto.posVel(copter_id="1")
pv.start_subs()
pv.subscribe_pose_thread()
time.sleep(0.1)
pv.start_navigating()
time.sleep(0.1)
print "set mode"
time.sleep(0.5)
pv.setmode(custom_mode="")
time.sleep(2.0)
pv.arm()
#out = raw_input()
time.sleep(2.0)
pv.setmode(custom_mode="OFFBOARD")
pv.takeoff_velocity(alt=6.0)
time.sleep(0.5)
print "out of takeoff"
utm_coords = utm.from_latlon(lat, lon)
#utm_coords = utm.from_latlon(37.873308606981595,-122.30257440358399) #(37.87328$
print "going to gps", utm_coords, "current: ", pv.get_lat_lon_alt()
pv.update(utm_coords[0], utm_coords[1], 7.0)
#pv.update(pv.cur_pos_x, pv.cur_pos_y, 7.0)
pv.setmode(custom_mode="OFFBOARD")
while not pv.reached:
time.sleep(0.025)
#print out
print "at gps, waiting"
#time.sleep(2.0)
print "done"
#pv.land_velocity()
pv.setmode(custom_mode="AUTO.LAND")
#copters = [pv]
#velocity_goto.SmartRTL(copters)
#pv.land_velocity()
print "Landed!"
#bc.make_delivery(lat,lon)
return 'Delivering to coordinates %s!' % (new_delivery, )
from threading import Thread
import time
import ast
import os
import velocity_goto
is_test = False
if True:
rospy.init_node("killer")
print "initializing copter..."
cop = velocity_goto.posVel(copter_id = "1")
if is_test:
cop.start_subs()
time.sleep(1.0)
cop.subscribe_pose_thread()
time.sleep(0.1)
cop.start_navigating()
time.sleep(0.1)
cop.setmode(custom_mode = "OFFBOARD")
cop.arm()
self.y_offset = -self.stick_map[2]
self.z_offset = self.stick_map[0]
def handle_buttons(self, msg):
self.butt = msg
def start_subbing(self):
stick_sub = rospy.Subscriber("sticks", std_msgs.msg.String,
self.handle_sticks)
button_sub = rospy.Subscriber("unused_buttons", std_msgs.msg.String,
self.handle_buttons)
print "initializing copter..."
cop = velocity_goto.posVel(copter_id="1")
cop.start_subs()
time.sleep(1.0)
cop.subscribe_pose_thread()
time.sleep(0.1)
cop.start_navigating()
time.sleep(0.1)
cop.setmode(custom_mode="OFFBOARD")
cop.arm()
time.sleep(0.1)
cop.takeoff_velocity()
def start_subbing(self):
stick_sub = rospy.Subscriber("sticks", std_msgs.msg.String,
self.handle_sticks)
rospy.init_node("copter_broadcast_frames")
#br = tf.TransformBroadcaster() #test
print "initializing copter..."
cops = []
for i in range(4):
print str(i + 1)
cops.append(velocity_goto.posVel(copter_id=str(i + 1)))
for cop in cops:
cop.start_subs()
time.sleep(1.0)
cop.subscribe_pose_thread()
time.sleep(0.1)
cop.start_navigating()
time.sleep(0.1)
print "taking off"
i = 1
self.click = ""
def handle_buttons(self, msg):
self.click = str(msg)[6:]
def start_subbing(self):
button_sub = rospy.Subscriber("unused_buttons", std_msgs.msg.String, self.handle_buttons)
rospy.init_node("copter_broadcast_frames")
print "Please wait while the copters warm up..."
cops = []
for i in range(5):
cops.append(velocity_goto.posVel(copter_id = str(i+1)))
for cop in cops:
cop.start_subs()
time.sleep(1.0)
cop.subscribe_pose_thread()
time.sleep(0.1)
cop.start_navigating()
time.sleep(0.1)
i = 1
b = buttons()
b.start_subbing()
import time
import rospy
import velocity_goto
print "initializing copters..."
cops = []
for i in range(4):
cop_num = str(i+1)
cops.append(velocity_goto.posVel(copter_id = cop_num))
cops[i].start_subs()
cops[i].subscribe_pose_thread()
time.sleep(0.1)
cops[i].start_navigating()
time.sleep(0.1)
print "arming copters..."
for c in cops:
c.setmode(custom_mode = "OFFBOARD")
c.arm()
time.sleep(0.1)
