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jenniferdavid authoredUnverified836985ef
mavros_state.py 7.23 KiB
'''Mavros for F651
Copyright (C) 2018, CPS2018 Challenge by Team Halmstad. All rights reserved.
BSD license:
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of
contributors to this software may be used to endorse or promote
products derived from this software without specific prior written
permission.
THIS SOFTWARE IS PROVIDED BY THE AUTHORS AND CONTRIBUTORS ``AS IS''
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
HOLDER OR THE CONTRIBUTORS TO THIS SOFTWARE BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
'''
#!/usr/bin/env python
import rospy
from mavros_msgs.msg import State
from nav_msgs.msg import Odometry
from geometry_msgs.msg import PoseStamped, TwistStamped
from mavros_msgs.srv import SetMode, SetModeRequest, SetModeResponse, CommandBool, CommandBoolRequest, CommandBoolResponse, CommandTOL, CommandTOLRequest
import time
from tf.transformations import *
import numpy as np
class mavros_state():
def __init__(self):
### subscriber ###
# state subscriber
self._rate_state = rospy.Rate(1)
self.current_state = State()
rospy.Subscriber('/mavros/state', State, self.current_state_callback)
# wait until connection with FCU
while not rospy.is_shutdown() and not self.current_state.connected:
rospy.Rate(20)
print 'FCU connection successful'
#callback function for state
def current_state_callback(self, data):
self.current_state = data
#setmode for the drone
#'OFFBOARD'
def set_mode(self, mode):
if not self.current_state.connected:
print "No FCU connection"
elif self.current_state.mode == mode:
print "Already in " + mode + " mode"
else:
# wait for service
rospy.wait_for_service("mavros/set_mode")
# service client
set_mode = rospy.ServiceProxy("mavros/set_mode", SetMode)
# set request object
req = SetModeRequest()
req.custom_mode = mode
# zero time
t0 = rospy.get_time()
# check response
while not rospy.is_shutdown() and (self.current_state.mode != req.custom_mode):
if rospy.get_time() - t0 > 2.0: # check every 5 seconds
try:
# request
set_mode.call(req)
except rospy.ServiceException, e:
print "Service did not process request: %s" % str(e)
t0 = rospy.get_time()
print "Mode: " + self.current_state.mode + " established"
#Arm the vehicle
def arm(self, do_arming):
if self.current_state.armed and do_arming:
print "already armed"
else:
# wait for service
rospy.wait_for_service("mavros/cmd/arming")
# service client
set_arm = rospy.ServiceProxy("mavros/cmd/arming", CommandBool)
# set request object
req = CommandBoolRequest()
req.value = do_arming
# zero time
t0 = rospy.get_time()
# check response
if do_arming:
while not rospy.is_shutdown() and not self.current_state.armed:
if rospy.get_time() - t0 > 2.0: # check every 5 seconds
try:
# request
set_arm.call(req)
except rospy.ServiceException, e:
print "Service did not process request: %s" % str(e)
t0 = rospy.get_time()
print "armed: ", self.current_state.armed
else:
while not rospy.is_shutdown() and self.current_state.armed:
if rospy.get_time() - t0 > 0.5: # check every 5 seconds
try:
# request
set_arm.call(req)
except rospy.ServiceException, e:
print "Service did not process request: %s" % str(e)
t0 = rospy.get_time()
def land(self, height):
if not self.current_state.armed:
print "not armed yet"
else:
# wait for service
rospy.wait_for_service("mavros/cmd/land")
# service client
set_rq = rospy.ServiceProxy("mavros/cmd/land", CommandTOL)
# set request object
req = CommandTOLRequest()
req.yaw = 0.0
req.latitude = 0.0
req.longitude = 0.0
req.altitude = height
req.min_pitch = 0.0
# zero time
t0 = rospy.get_time()
# check response
while self.current_state.armed:
if rospy.get_time() - t0 > 5.0: # check every 5 seconds
try:
# request
set_rq.call(req)
except rospy.ServiceException, e:
print "Service did not process request: %s" % str(e)
t0 = rospy.get_time()
print "landed savely"
def takeoff(self):
if not self.current_state.armed:
print "not armed yet"
else:
# wait for service
rospy.wait_for_service("mavros/cmd/takeoff")
# service client
set_rq = rospy.ServiceProxy("mavros/cmd/takeoff", CommandTOL)
# set request object
req = CommandTOLRequest()
req.yaw = 0.0
req.latitude = 0.0
req.longitude = 0.0
req.altitude = 4.0
req.min_pitch = 0.0
# zero time
t0 = rospy.get_time()
# check response
while self.current_state.armed:
if rospy.get_time() - t0 > 5.0: # check every 5 seconds
try:
# request
set_rq.call(req)
except rospy.ServiceException, e:
print "Service did not process request: %s" % str(e)
t0 = rospy.get_time()
print "landed savely"