def __init__(self, mavModel):
self.cmdVelPub = rospy.Publisher("mavros/setpoint_velocity/cmd_vel", TwistStamped, queue_size=10)
self.bodyPub = rospy.Publisher(util.topicName("mavros_offboard", "body"), PoseStamped, queue_size=10)
self.enuPub = rospy.Publisher(util.topicName("mavros_offboard", "enu"), PoseStamped, queue_size=10)
self.destENUPub = rospy.Publisher(util.topicName("mavros_offboard", "dest_enu"), PoseStamped, queue_size=10)
self.safetyStatusPub = rospy.Publisher(
util.topicName("mavros_offboard", "safety_status"), String, queue_size=10
)
rospy.Subscriber("/itech_ros/marker_pose/pose", PoseStamped, self.cameraCb)
rospy.Subscriber(util.topicName("mavros_offboard", "set_destination"), PoseStamped, self.destCb)
rospy.Subscriber("/mavros/vfr_hud", VFR_HUD, self.hudCb)
rospy.Subscriber("/itech_ros/mavros_local_pose_fusion/local_enu", PoseStamped, self.localEnuFusionCb)
self.mavModel = mavModel
self.mavSafety = MavSafety(self.mavModel)
class MavController:
def __init__(self, mavModel):
self.cmdVelPub = rospy.Publisher("mavros/setpoint_velocity/cmd_vel", TwistStamped, queue_size=10)
self.bodyPub = rospy.Publisher(util.topicName("mavros_offboard", "body"), PoseStamped, queue_size=10)
self.enuPub = rospy.Publisher(util.topicName("mavros_offboard", "enu"), PoseStamped, queue_size=10)
self.destENUPub = rospy.Publisher(util.topicName("mavros_offboard", "dest_enu"), PoseStamped, queue_size=10)
self.safetyStatusPub = rospy.Publisher(
util.topicName("mavros_offboard", "safety_status"), String, queue_size=10
)
rospy.Subscriber("/itech_ros/marker_pose/pose", PoseStamped, self.cameraCb)
rospy.Subscriber(util.topicName("mavros_offboard", "set_destination"), PoseStamped, self.destCb)
rospy.Subscriber("/mavros/vfr_hud", VFR_HUD, self.hudCb)
rospy.Subscriber("/itech_ros/mavros_local_pose_fusion/local_enu", PoseStamped, self.localEnuFusionCb)
self.mavModel = mavModel
self.mavSafety = MavSafety(self.mavModel)
# eof
def publish(self):
if not self.mavSafety.isSafe():
rospy.logerr("Not Safe")
self.mavModel.twist.reset()
header = Header(0, rospy.rostime.get_rostime(), "world")
if not self.mavModel.destENU.isNone():
self.destENUPub.publish(self.mavModel.destENU.getPoseStamped(header))
self.cmdVelPub.publish(self.mavModel.twist.getTwistStamepd(header))
# eof
def cameraCb(self, data):
if self.mavModel.camera.isNone():
rospy.logwarn("First Localization Data Arrived!")
self.mavModel.camera.setPoseStamped(data)
self.mavModel.runPoseCorrection().runCalculation()
if not self.mavModel.body.isNone():
self.bodyPub.publish(self.mavModel.body.getPoseStamped())
if not self.mavModel.enu.isNone():
self.enuPub.publish(self.mavModel.enu.getPoseStamped())
# eof
def destCb(self, data):
if self.mavModel.dest.isNone():
rospy.logwarn("First Destination Data Arrived!")
self.mavModel.dest.setPoseStamped(data)
self.mavModel.runCalculation()
# eof
def hudCb(self, data):
if self.mavModel.headingAngle is None:
rospy.logwarn("Heading Data Arrived!")
self.mavModel.headingAngle = data.heading * (math.pi / 180)
# eof
def localEnuFusionCb(self, data):
self.mavModel.localEnuPose.setPoseStamped(data)
self.mavModel.runCalculation()
