def __init__(self):
super(GazeboTeleop, self).__init__()
self.sub = subs.Subs()
self.pub = pubs.Pubs()
self.pub1 = pubs.Pubs()
self.sub1 = subs.Subs()
self.pub.subscribe_topic('/BlueRov2/thruster_command', JointState)
self.pub1.subscribe_topic('/gazebo/current',Vector3)
self.sub.subscribe_topic('/BlueRov2/state', Odometry)
def __init__(self):
super(ROV_control, self).__init__()
# Do what is necessary to start the process
# and to leave gloriously
self.arm()
self.sub = subs.Subs()
self.pub = pubs.Pubs()
self.pub.subscribe_topic('/mavros/rc/override', OverrideRCIn)
self.pub.subscribe_topic('/mavros/setpoint_velocity/cmd_vel', TwistStamped)
self.pub.subscribe_topic('/BlueRov2/body_command', JointState)
self.sub.subscribe_topic('/joy', Joy)
self.sub.subscribe_topic('/mavros/battery', BatteryState)
self.sub.subscribe_topic('/mavros/rc/in', RCIn)
self.sub.subscribe_topic('/mavros/rc/out', RCOut)
self.cam = None
try:
video_udp_port = rospy.get_param("/user_node/video_udp_port")
rospy.loginfo("video_udp_port: {}".format(video_udp_port))
self.cam = video.Video(video_udp_port)
except Exception as error:
rospy.loginfo(error)
self.cam = video.Video()
def __init__(self):
super(Code, self).__init__()
# Do what is necessary to start the process
# and to leave gloriously
rospy.wait_for_service('/mavros/cmd/arming')
self.arm_service = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool)
self.disarm()
self.is_armed = False
self.sub = subs.Subs()
self.pub = pubs.Pubs()
self.pub.subscribe_topic('/mavros/rc/override', OverrideRCIn)
self.pub.subscribe_topic('/mavros/setpoint_velocity/cmd_vel', TwistStamped)
self.pub.subscribe_topic('/BlueRov2/body_command', JointState)
self.sub.subscribe_topic('/joy', Joy)
self.sub.subscribe_topic('/mavros/battery', BatteryState)
self.sub.subscribe_topic('/mavros/rc/in', RCIn)
self.sub.subscribe_topic('/mavros/rc/out', RCOut)
self.sub.subscribe_topic('/imu_pose', Pose)
self.cam = None
self.bridge = CvBridge()
self.image_pub = rospy.Publisher("BlueRov2/image",Image)
try:
video_udp_port = rospy.get_param("/user_node/video_udp_port")
rospy.loginfo("video_udp_port: {}".format(video_udp_port))
self.cam = video.Video(video_udp_port)
except Exception as error:
rospy.loginfo(error)
self.cam = video.Video()
def __init__(self):
super(Code1, self).__init__()
# Do what is necessary to start the process
# and to leave gloriously
self.arm()
self.sub = subs.Subs()
self.pub = pubs.Pubs()
self.pub.subscribe_topic('/act', Custom)
self.pub.subscribe_topic('/mavros/rc/override', OverrideRCIn)
self.pub.subscribe_topic('/mavros/setpoint_velocity/cmd_vel',
TwistStamped)
self.pub.subscribe_topic('/BlueRov2/body_command', JointState)
self.pub.subscribe_topic('/Location2', Odometry)
self.sub.subscribe_topic('/joy', Joy)
self.sub.subscribe_topic('/odom', Odometry)
self.sub.subscribe_topic('/mavros/battery', BatteryState)
self.sub.subscribe_topic('/mavros/rc/in', RCIn)
self.sub.subscribe_topic('/mavros/rc/out', RCOut)
self.sub.subscribe_topic('/mavros/imu/static_pressure', FluidPressure)
self.sub.subscribe_topic('/mavros/imu/diff_pressure', FluidPressure)
self.sub.subscribe_topic('/mavros/imu/data', Imu)
self.sub.subscribe_topic('/depth', Float32)
self.sub.subscribe_topic('/odometry/filtered', Odometry)
self.cam = None
try:
video_udp_port = rospy.get_param("/user_node/video_udp_port")
rospy.loginfo("video_udp_port: {}".format(video_udp_port))
self.cam = video.Video(video_udp_port)
except Exception as error:
rospy.loginfo(error)
self.cam = video.Video()
def __init__(self):
super(Code, self).__init__()
# Do what is necessary to start the process
# and to leave gloriously
self.arm()
self.sub = subs.Subs()
self.pub = pubs.Pubs()
self.pub.subscribe_topic('/mavros/rc/override', OverrideRCIn)
self.pub.subscribe_topic('/mavros/setpoint_velocity/cmd_vel', TwistStamped)
# Thrusters Input
#self.pub.subscribe_topic('/bluerov2/thrusters/0/input', FloatStamped)
#self.pub.subscribe_topic('/bluerov2/thrusters/1/input', FloatStamped)
#self.pub.subscribe_topic('/bluerov2/thrusters/2/input', FloatStamped)
#self.pub.subscribe_topic('/bluerov2/thrusters/3/input', FloatStamped)
#self.pub.subscribe_topic('/bluerov2/thrusters/4/input', FloatStamped)
#self.pub.subscribe_topic('/bluerov2/thrusters/5/input', FloatStamped)
self.sub.subscribe_topic('/joy', Joy)
self.sub.subscribe_topic('/mavros/battery', BatteryState)
self.sub.subscribe_topic('/mavros/rc/in', RCIn)
self.sub.subscribe_topic('/mavros/rc/out', RCOut)
def __init__(self):
super(SITL, self).__init__()
self.arm()
self.sub = subs.Subs()
self.pub = pubs.Pubs()
self.sub.subscribe_topic('/mavros/local_position/pose', PoseStamped)
self.pub.subscribe_topic('/gazebo/set_model_state', ModelState)
def __init__(self):
super(GazeboTeleop, self).__init__()
self.sub = subs.Subs()
self.pub = pubs.Pubs()
self.pub.subscribe_topic('/BlueRov2/thruster_command', JointState)
self.sub.subscribe_topic('/BlueRov2/state', Odometry)
self.sub.subscribe_topic('/joy', Joy)
def __init__(self):
super(Control, self).__init__()
# Do what is necessary to start the process
# and to leave gloriously
self.sub = subs.Subs()
self.pub = pubs.Pubs()
self.sub.subscribe_topic('/actuation', Custom)
self.sub.subscribe_topic('/act', Custom)
self.sub.subscribe_topic('/joy', Joy)
self.pub.subscribe_topic('/mavros/rc/override', OverrideRCIn)