Exemplo n.º 1
0
    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)
Exemplo n.º 2
0
    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()
Exemplo n.º 3
0
    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()
Exemplo n.º 4
0
    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()
Exemplo n.º 5
0
    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)
Exemplo n.º 6
0
    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)
Exemplo n.º 8
0
    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)