def setUp(self): rospy.init_node('test_node', anonymous=True) rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) rospy.Subscriber("iris/vehicle_local_position", vehicle_local_position, self.position_callback) self.pub_spt = rospy.Publisher('iris/position_setpoint_triplet', position_setpoint_triplet, queue_size=10) self.rate = rospy.Rate(10) # 10hz self.has_pos = False self.local_position = vehicle_local_position() self.control_mode = vehicle_control_mode()
def setUp(self): rospy.init_node('test_node', anonymous=True) rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback) self.pub_spt = rospy.Publisher('iris/mavros/setpoint/local_position', PoseStamped, queue_size=10) self.rate = rospy.Rate(10) # 10hz self.has_pos = False self.local_position = PoseStamped() self.control_mode = vehicle_control_mode()
def setUp(self): rospy.init_node('test_node', anonymous=True) rospy.wait_for_service('iris/mavros/cmd/arming', 30) rospy.Subscriber('iris/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback) self.pub_att = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10) self.pub_thr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10) self.rate = rospy.Rate(10) # 10hz self.has_pos = False self.control_mode = vehicle_control_mode() self.local_position = PoseStamped()
def setUp(self): rospy.init_node('test_node', anonymous=True) rospy.wait_for_service('mavros/cmd/arming', 30) rospy.Subscriber('px4_multicopter/vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) rospy.Subscriber("mavros/position/local", PoseStamped, self.position_callback) self.pubSpt = rospy.Publisher('mavros/setpoint/local_position', PoseStamped, queue_size=10) self.cmdArm = rospy.ServiceProxy("mavros/cmd/arming", CommandBool) self.rate = rospy.Rate(10) # 10hz self.rateSec = rospy.Rate(1) self.hasPos = False self.controlMode = vehicle_control_mode()
def setUp(self): rospy.init_node('test_node', anonymous=True) self.helper = PX4TestHelper("mavros_offboard_posctl_test") self.helper.setUp() rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) rospy.Subscriber("mavros/local_position/local", PoseStamped, self.position_callback) self.pub_spt = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10) self.rate = rospy.Rate(10) # 10hz self.has_pos = False self.local_position = PoseStamped() self.control_mode = vehicle_control_mode()
def setUp(self): rospy.init_node('test_node', anonymous=True) self.helper = PX4TestHelper("direct_offboard_posctl_test") self.helper.setUp() rospy.Subscriber('vehicle_control_mode', vehicle_control_mode, self.vehicle_control_mode_callback) self.sub_vlp = rospy.Subscriber("vehicle_local_position", vehicle_local_position, self.position_callback) self.pub_spt = rospy.Publisher('position_setpoint_triplet', position_setpoint_triplet, queue_size=10) self.rate = rospy.Rate(10) # 10hz self.has_pos = False self.local_position = vehicle_local_position() self.control_mode = vehicle_control_mode()
def setUp(self): self.actuator_status = actuator_armed() self.control_mode = vehicle_control_mode()