def Signal(self, data): if len(self.signal): print "It's still sending data" else: if self.state == 'Flying' or self.state == 'Hovering': self.ControlOff() self.signal = SignalResponse( tf = data.time, dt = data.dt, f = data.f, signal = data.signal, direction = data.direction ) self.timer['signal_timer'] = rospy.Timer( rospy.Duration(self.signal.dt), self.CmdSignal, oneshot = False ) return []
class ROS_Handler(Quadrotor, ROS_Object, object):
"""docstring for ROS_Handler:
Subscribed to:
ardrone/navdata -> reads state of the ardrone
Publishes to:
ardrone/land
ardrone/takeoff
ardrone/reset
ardrone/controller/state -> communicates to the controller its state
ardrone/trajectory -> Prints in an Odometry msg the desired trajectory
It is called by a Timer
trajectory data is taken from a self.quadrotor object instance
"""
def __init__(self, **kwargs):
super(ROS_Handler, self).__init__()
# self.quadrotor = Quadrotor()
self.Ts = kwargs.get('Command_Time', IMU_Period)
self.name = kwargs.get('name', "/goal")
self.signal = []
self.publisher.update(
land = rospy.Publisher('/ardrone/land', Empty, latch = True),
takeoff = rospy.Publisher('/ardrone/takeoff', Empty, latch = True),
reset = rospy.Publisher('/ardrone/reset', Empty, latch = True),
controller_state = rospy.Publisher('/ardrone/controller/state', KeyValue, latch = True),
cmd_vel = rospy.Publisher('/cmd_vel', Twist),
trajectory = rospy.Publisher('/ardrone/trajectory', Odometry) )
self.subscriber.update(
ardrone_state = rospy.Subscriber('/ardrone/navdata', Navdata, callback = self.RecieveNavdata),
sonar_height = rospy.Subscriber('/sonar_height', Range, callback = self.ReceiveSonarHeight )
)
self.services.update(
signal_service = rospy.Service('/ardrone_control/Signal', Signal, self.Signal)
)
self.tf_broadcaster.update(
goal_tf = tf.TransformBroadcaster()
)
self.timer.update(
trajectory_timer = rospy.Timer(rospy.Duration( self.Ts ), self.Talk, oneshot=False),
signal_timer = None
)
def RecieveNavdata( self, data ):
self.set_state(data.state)
def ReceiveSonarHeight(self, data):
"""
if data.max_range > data.range:
self.landFlag = False
if data.range < safe_min:
pass
"""
pass
def Signal(self, data):
if len(self.signal):
print "It's still sending data"
else:
if self.state == 'Flying' or self.state == 'Hovering':
self.ControlOff()
self.signal = SignalResponse( tf = data.time, dt = data.dt, f = data.f, signal = data.signal, direction = data.direction )
self.timer['signal_timer'] = rospy.Timer( rospy.Duration(self.signal.dt), self.CmdSignal, oneshot = False )
return []
def CmdSignal(self, time):
msg = Twist()
if len(self.signal):
if self.signal.direction == 'yaw':
msg.angular.z = self.signal.command() #set angular velocity
else:
setattr( msg.linear, self.signal.direction, self.signal.command() ) #set linear velocity
else:
print "Done sending Signal"
self.SignalOff()
self.publisher['cmd_vel'].publish( msg ) #always publish so last command makes it stop
def SignalOff(self):
try:
self.timer['signal_timer'].shutdown( )
self.signal = [ ]
except AttributeError:
pass
msg = Twist()
self.publisher['cmd_vel'].publish( msg )
def Talk( self, time ):
""" Publishes the Goal Point for the Controller """
msgs = Odometry( )
msgs.header.stamp = rospy.Time.now()
msgs.header.frame_id = "/nav"
msgs.child_frame_id = "/goal"
# position
msgs.pose.pose.position.x = self.position.x
msgs.pose.pose.position.y = self.position.y
msgs.pose.pose.position.z = self.position.z
# orientation
msgs.pose.pose.orientation.x = self.orientation.x
msgs.pose.pose.orientation.y = self.orientation.y
msgs.pose.pose.orientation.z = self.orientation.z
msgs.pose.pose.orientation.w = self.orientation.w
# linear velocity
msgs.twist.twist.linear.x = self.velocity.x
msgs.twist.twist.linear.y = self.velocity.y
msgs.twist.twist.linear.z = self.velocity.z
# angular velocity
msgs.twist.twist.angular.x = self.velocity.roll
msgs.twist.twist.angular.y = self.velocity.pitch
msgs.twist.twist.angular.z = self.velocity.yaw
self.publisher['trajectory'].publish(msgs)
self.tf_broadcaster['goal_tf'].sendTransform(
(msgs.pose.pose.position.x, msgs.pose.pose.position.y, msgs.pose.pose.position.z) ,
(msgs.pose.pose.orientation.x, msgs.pose.pose.orientation.y, msgs.pose.pose.orientation.z, msgs.pose.pose.orientation.w),
msgs.header.stamp,
msgs.child_frame_id,
msgs.header.frame_id)
def TakeOff(self, *args):
# Send a takeoff message to the ardrone driver
# Note we only send a takeoff message if the drone is landed - an unexpected takeoff is not good!
print self.state
if(self.state == 'Landed'):
self.publisher['takeoff'].publish()
print "Taking Off!"
else:
print "Drone is not landed"
def Reset(self, *args):
self.ControlOff()
self.SignalOff()
self.publisher['reset'].publish()
print "Reset"
def Land(self, *args):
self.ControlOff()
self.SignalOff()
self.publisher['land'].publish()
print "Landing"
def X(self, scale):
self.change_set_point('x', scale)
def Y(self, scale):
self.change_set_point('y', scale)
def Z(self, scale):
self.change_set_point('z', scale)
def Yaw(self, scale):
self.change_set_point('yaw', scale)
# Order is important: first change set point in yaw, then update quaternions.
if self.position.yaw >= pi :
self.position.yaw -= 2 * pi;
if self.position.yaw < -pi:
self.position.yaw += 2 * pi;
quaternion = tf.transformations.quaternion_from_euler(self.position.yaw, self.position.pitch, self.position.roll, 'rzyx')
self.orientation.x = quaternion[0]
self.orientation.y = quaternion[1]
self.orientation.z = quaternion[2]
self.orientation.w = quaternion[3]
def ControlOff(self, *args):
self.change_controller_state('Off')
def ControlOn(self, *args):
if self.state == 'Flying' or self.state == 'Hovering':
self.change_controller_state('On')
def default_chirp_data(self, direction):
data = Signal()
data.time = 10
data.dt = 0.01
data.f = 20
data.signal = 'chirp'
data.direction = direction
return data
def ChirpX(self, *args):
self.Signal( self.default_chirp_data('x') )
def ChirpY(self, *args):
self.Signal( self.default_chirp_data('y') )
def ChirpZ(self, *args):
self.Signal( self.default_chirp_data('z') )
def ChirpYaw(self, *args):
self.Signal( self.default_chirp_data('yaw') )
def change_set_point(self, direction, scale):
# it changes an attribute from the self.position by a fraction of a Step.
setattr(self.position, direction,
getattr(self.position, direction) + scale * Step[direction] )
def change_controller_state(self, state_new_name):
new_state = KeyValue()
if state_new_name in ControllerState.MAP:
new_state.key = state_new_name
else:
new_state.key = 'Unknown'
new_state.value = str( ControllerState.MAP.index( new_state.key ) )
self.publisher['controller_state'].publish(new_state)
print "Controller New State is:", new_state.key
