import time from math import * from task_manager_lib.TaskClient import * rospy.init_node('task_client_uav') # uav task client server_node_uav = rospy.get_param("~server", "/uavsim_tasks") default_period_uav = rospy.get_param("~period", 0.2) uav = TaskClient(server_node_uav, default_period_uav) rospy.loginfo("Mission connected to UAV server: " + server_node_uav) wp = [[0., 0], [2., -2.], [-2., 2.], [-2., -2.], [2., 2.]] i = 0 try: uav.RequestTakeOff() uav.Wait(duration=3.0) uav.TakeOff() while True: w4landingBackOrder = uav.WaitForLandingBackOrder(foreground=False) w4lowBatteryLevel = uav.WaitForLowBatteryLevel(foreground=False) uav.addCondition( ConditionIsCompleted("Landing Back Order", uav, w4landingBackOrder)) uav.addCondition( ConditionIsCompleted("Low Battery Level", uav, w4lowBatteryLevel)) try: while True: