def run(server_name):
client = actionlib.SimpleActionClient(server_name, TaskRequestAction)
rospy.loginfo("TakeoffLandMission: Waiting for server")
client.wait_for_server()
rospy.loginfo("TakeoffLandMission: server ready")
rospy.sleep(5)
request = TaskRequestGoal(action_type="takeoff")
client.send_goal_and_wait(request)
rospy.logwarn("Success: {}".format(client.get_result().success))
rospy.sleep(2)
request = TaskRequestGoal(action_type="go_to_target")
client.send_goal(request)
rospy.sleep(5.0)
request = TaskRequestGoal(action_type="land", preempt=True)
client.send_goal_and_wait(request)
rospy.logwarn("Success: {}".format(client.get_result().success))
def run(server_name):
client = actionlib.SimpleActionClient(server_name, TaskRequestAction)
rospy.loginfo('TaskActionClient: Waiting for server')
client.wait_for_server()
rospy.loginfo('TaskActionClient: server ready')
request = TaskRequestGoal(action_type='test_task')
client.send_goal_and_wait(request)
rospy.logwarn('Success: {}'.format(client.get_result().success))
rospy.loginfo('Testing Cancel')
# test cancel
request = TaskRequestGoal(action_type='test_task')
client.send_goal(request)
rospy.sleep(.25)
client.cancel_goal()
rospy.logwarn('Goal Canceled')
rospy.loginfo('Test Preempt')
# test preempt
request = TaskRequestGoal(action_type='test_task')
client.send_goal(request)
rospy.sleep(.25)
request = TaskRequestGoal(action_type='test_task', preempt=True)
client.send_goal_and_wait(request)
def run(server_name):
client = actionlib.SimpleActionClient(server_name, TaskRequestAction)
rospy.loginfo("TaskServer: Waiting for server")
client.wait_for_server()
rospy.loginfo("TaskServer: server ready")
request = TaskRequestGoal(action_type="takeoff")
client.send_goal_and_wait(request)
rospy.logwarn("Success: {}".format(client.get_result().success))
request = TaskRequestGoal(action_type="land")
client.send_goal_and_wait(request)
rospy.logwarn("Success: {}".format(client.get_result().success))
def run(server_name):
client = actionlib.SimpleActionClient(server_name, TaskRequestAction)
rospy.loginfo('TaskActionClient: Waiting for server')
client.wait_for_server()
rospy.loginfo('TaskActionClient: server ready')
time.sleep(60)
request = TaskRequestGoal(action_type='uavTakeOff')
"""
Give me the takeoff altitude
in the pose
"""
altitude = 1.5
request.pose = getWaypoint(0, 0, altitude)
client.send_goal_and_wait(request)
rospy.logwarn('Success: {}'.format(client.get_result().success))
#hover for 2 seconds
time.sleep(2)
"""
Waypoint following code
"""
request = TaskRequestGoal(action_type='uavWaypoint')
request.pose = getWaypoint(0.2, 0, altitude, 0)
rospy.loginfo(str(request))
client.send_goal_and_wait(request)
rospy.logwarn('Success: {}'.format(client.get_result().success))
rospy.loginfo('Testing Cancel')
#hover for 2 seconds
#time.sleep(2)
#request = TaskRequestGoal(action_type='uavWaypoint')
#request.pose = getWaypoint(0.2,0.2,altitude,0)
#rospy.loginfo(str(request))
#client.send_goal_and_wait(request)
#rospy.logwarn('Success: {}'.format(client.get_result().success))
#rospy.loginfo('Testing Cancel')
#hover for 2 seconds
#time.sleep(2)
#request = TaskRequestGoal(action_type='uavWaypoint')
#request.pose = getWaypoint(0,0.2,altitude,0)
#rospy.loginfo(str(request))
#client.send_goal_and_wait(request)
#rospy.logwarn('Success: {}'.format(client.get_result().success))
#rospy.loginfo('Testing Cancel')
#hover for 2 seconds
time.sleep(2)
request = TaskRequestGoal(action_type='uavWaypoint')
request.pose = getWaypoint(0, 0, 0.2, 0)
rospy.loginfo(str(request))
client.send_goal_and_wait(request)
rospy.logwarn('Success: {}'.format(client.get_result().success))
rospy.loginfo('Testing Cancel')
#hover for 2 seconds
time.sleep(2)
"""