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):