px4_autopilot/integrationtests/demo_tests/manual_input.py

#!/usr/bin/env python
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#
# @author Andreas Antener <andreas@uaventure.com>
#
import sys
import rospy

from px4.msg import manual_control_setpoint
from mav_msgs.msg import CommandAttitudeThrust
from std_msgs.msg import Header

#
# Manual input control helper
#
# FIXME: this is not the way to do it! ATM it fakes input to iris/command/attitude because else
# the simulator does not instantiate our controller.
#
class ManualInput:

    def __init__(self):
        rospy.init_node('test_node', anonymous=True)
        self.pubMcsp = rospy.Publisher('px4_multicopter/manual_control_setpoint', manual_control_setpoint, queue_size=10)
        self.pubAtt = rospy.Publisher('iris/command/attitude', CommandAttitudeThrust, queue_size=10)

    def arm(self):
        rate = rospy.Rate(10) # 10hz

        att = CommandAttitudeThrust()
        att.header = Header()

        pos = manual_control_setpoint()
        pos.x = 0
        pos.z = 0
        pos.y = 0
        pos.r = 0
        pos.mode_switch = 3
        pos.return_switch = 3
        pos.posctl_switch = 3
        pos.loiter_switch = 3
        pos.acro_switch = 0
        pos.offboard_switch = 3

        count = 0
        while not rospy.is_shutdown() and count < 5:
            rospy.loginfo("zeroing")
            time = rospy.get_rostime().now()
            pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
            self.pubMcsp.publish(pos)
            # Fake input to iris commander
            self.pubAtt.publish(att)
            rate.sleep()
            count = count + 1 

        pos.r = 1
        count = 0
        while not rospy.is_shutdown() and count < 5:
            rospy.loginfo("arming")
            time = rospy.get_rostime().now()
            pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
            self.pubMcsp.publish(pos)
            rate.sleep()
            count = count + 1

    def posctl(self):
        rate = rospy.Rate(10) # 10hz

        # triggers posctl
        pos = manual_control_setpoint()
        pos.x = 0
        pos.z = 0
        pos.y = 0
        pos.r = 0
        pos.mode_switch = 2
        pos.return_switch = 3
        pos.posctl_switch = 1
        pos.loiter_switch = 3
        pos.acro_switch = 0
        pos.offboard_switch = 3

        count = 0
        while not rospy.is_shutdown() and count < 5:
            rospy.loginfo("triggering posctl")
            time = rospy.get_rostime().now()
            pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
            self.pubMcsp.publish(pos)
            rate.sleep()
            count = count + 1

    def offboard(self):
        rate = rospy.Rate(10) # 10hz

        # triggers offboard
        pos = manual_control_setpoint()
        pos.x = 0
        pos.z = 0
        pos.y = 0
        pos.r = 0
        pos.mode_switch = 3
        pos.return_switch = 3
        pos.posctl_switch = 3
        pos.loiter_switch = 3
        pos.acro_switch = 0
        pos.offboard_switch = 1

        count = 0
        while not rospy.is_shutdown() and count < 5:
            rospy.loginfo("triggering offboard")
            time = rospy.get_rostime().now()
            pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
            self.pubMcsp.publish(pos)
            rate.sleep()
            count = count + 1