def __init__(self):
self._b = False
self.last_cmd_sent = datetime.now()
self.controller = DroneController()
self.min_points = 15
self.filter = MovingAverage()
self.tf = tf.TransformListener()
self._ap_ctrl = rospy.Subscriber('/apctrl',
Empty,
self.on_toggle,
queue_size=1)
self.is_active = False
self.is_webcam = rospy.get_param('~is_webcam', False)
def __init__(self):
super(UInode, self).__init__()
self._ap_topic = rospy.Publisher('/apctrl', Empty, queue_size=5)
self.webcam_shutdown_pub = rospy.Publisher('/webcam/shutdown',
Empty,
queue_size=5)
self.swap_red_blue = rospy.get_param('~swap_red_blue', False)
self.controller = DroneController(
offline_timeout=rospy.get_param('~connection_check_period', 500))
self.keymap = self.gen_keymap()
# Without release action
self.keymap2 = self.gen_keymap2()
self.messages = Messages(
rospy.get_param('~message_display_time', 5000), *grid)
self.messages_named_template = re.compile(
r'((?P<name>[a-zA-Z0-9_-]+)::)?(?P<message>.*)')
self.setWindowTitle('ARdrone camera')
self.image_box = QtGui.QLabel(self)
self.setCentralWidget(self.image_box)
self.image = None
self.image_lock = Lock()
fps = rospy.get_param('~fps', 50)
self.redraw_timer = QtCore.QTimer(self)
self.redraw_timer.timeout.connect(self.on_redraw)
self.redraw_timer.start(1000 / fps)
rospy.Subscriber('/ui/message', String, self.on_ui_request)
rospy.Subscriber('/out/image', Image, self.on_video_update)
Inputs
------
* /ardrone/navdata -- information about the drone state.
"""
import rospy
from utils.drone import DroneController
if __name__ == '__main__':
rospy.init_node('drone_commands_logger', anonymous=True)
controller = DroneController(land_on_shutdown=False)
@controller.on_online.subscribe
def on_online(*args, **kwargs):
rospy.loginfo('on_online')
@controller.on_offline.subscribe
def on_offline(*args, **kwargs):
rospy.loginfo('on_offline')
@controller.on_status_change.subscribe
def on_status_change(*args, **kwargs):
rospy.loginfo('on_status_change')
@controller.on_status_emergency.subscribe
def on_status_emergency(*args, **kwargs):
