def clear_waypoints(req):
driver.clear_waypoints()
return []
driver.trigger_auto()
return []
def clear_waypoints(req):
driver.clear_waypoints()
return []
def num_of_waypoints(req):
driver.num_of_waypoints()
return []
##******************************************************************************
# Services for APM Commands
#*******************************************************************************
# Allow for commands such as Arm, Disarm, Launch, Land, etc.
rospy.Service("mission", roscopter.srv.APMCommand, start_mission)
rospy.Service("land", Empty, land_it)
rospy.Service("adjust_throttle", Empty, adjust_throttle)
rospy.Service("trigger_auto", Empty, trigger_auto)
rospy.Service("clear_waypoints", Empty, clear_waypoints)
rospy.Service("num_of_waypoints", Empty, num_of_waypoints)
if __name__ == '__main__':
try:
# initially clear waypoints and start mainloop
driver.clear_waypoints()
# if (opts.enable_ros_failsafe):
# rospy.Timer(rospy.Duration(1), ros_failsafe_check)
driver.mainloop()
except rospy.ROSInterruptException: pass