forked from xtdrone/XTDrone
258 lines
12 KiB
Python
258 lines
12 KiB
Python
import rospy
|
|
from mavros_msgs.msg import PositionTarget
|
|
from mavros_msgs.srv import CommandBool, CommandVtolTransition, SetMode
|
|
from geometry_msgs.msg import PoseStamped, Pose, Twist
|
|
from nav_msgs.msg import Odometry
|
|
from gazebo_msgs.srv import GetModelState
|
|
from std_msgs.msg import String
|
|
from pyquaternion import Quaternion
|
|
import sys
|
|
|
|
class Communication:
|
|
|
|
def __init__(self, vehicle_type, vehicle_id):
|
|
|
|
self.vehicle_type = vehicle_type
|
|
self.vehicle_id = vehicle_id
|
|
self.local_pose = None
|
|
self.current_yaw = 0
|
|
self.current_state = None
|
|
self.target_motion = PositionTarget()
|
|
self.arm_state = False
|
|
self.hover_flag = 0
|
|
self.coordinate_frame = 1
|
|
self.motion_type = 0
|
|
self.flight_mode = None
|
|
self.plane_mission = None
|
|
|
|
'''
|
|
ros subscribers
|
|
'''
|
|
self.local_pose_sub = rospy.Subscriber(self.vehicle_type+'_'+self.vehicle_id+"/mavros/local_position/pose", PoseStamped, self.local_pose_callback)
|
|
self.cmd_pose_flu_sub = rospy.Subscriber("/xtdrone/"+self.vehicle_type+'_'+self.vehicle_id+"/cmd_pose_flu", Pose, self.cmd_pose_flu_callback)
|
|
self.cmd_pose_enu_sub = rospy.Subscriber("/xtdrone/"+self.vehicle_type+'_'+self.vehicle_id+"/cmd_pose_enu", Pose, self.cmd_pose_enu_callback)
|
|
self.cmd_vel_flu_sub = rospy.Subscriber("/xtdrone/"+self.vehicle_type+'_'+self.vehicle_id+"/cmd_vel_flu", Twist, self.cmd_vel_flu_callback)
|
|
self.cmd_vel_enu_sub = rospy.Subscriber("/xtdrone/"+self.vehicle_type+'_'+self.vehicle_id+"/cmd_vel_enu", Twist, self.cmd_vel_enu_callback)
|
|
self.cmd_accel_flu_sub = rospy.Subscriber("/xtdrone/"+self.vehicle_type+'_'+self.vehicle_id+"/cmd_accel_flu", Twist, self.cmd_accel_flu_callback)
|
|
self.cmd_accel_enu_sub = rospy.Subscriber("/xtdrone/"+self.vehicle_type+'_'+self.vehicle_id+"/cmd_accel_enu", Twist, self.cmd_accel_enu_callback)
|
|
self.cmd_sub = rospy.Subscriber("/xtdrone/"+self.vehicle_type+'_'+self.vehicle_id+"/cmd",String,self.cmd_callback)
|
|
|
|
'''
|
|
ros publishers
|
|
'''
|
|
self.target_motion_pub = rospy.Publisher(self.vehicle_type+'_'+self.vehicle_id+"/mavros/setpoint_raw/local", PositionTarget, queue_size=10)
|
|
self.odom_groundtruth_pub = rospy.Publisher('/xtdrone/'+self.vehicle_type+'_'+self.vehicle_id+'/ground_truth/odom', Odometry, queue_size=10)
|
|
|
|
'''
|
|
ros services
|
|
'''
|
|
self.armService = rospy.ServiceProxy(self.vehicle_type+'_'+self.vehicle_id+"/mavros/cmd/arming", CommandBool)
|
|
self.flightModeService = rospy.ServiceProxy(self.vehicle_type+'_'+self.vehicle_id+"/mavros/set_mode", SetMode)
|
|
self.gazeboModelstate = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState)
|
|
self.transition = rospy.ServiceProxy(self.vehicle_type+'_'+self.vehicle_id+'/mavros/cmd/vtol_transition', CommandVtolTransition)
|
|
self.transition_state = 'multirotor'
|
|
print(self.transition_state)
|
|
print(self.transition(state=3))
|
|
|
|
print("communication initialized")
|
|
|
|
def start(self):
|
|
rospy.init_node(self.vehicle_type+'_'+self.vehicle_id+"_communication")
|
|
rate = rospy.Rate(100)
|
|
'''
|
|
main ROS thread
|
|
'''
|
|
while not rospy.is_shutdown():
|
|
self.target_motion_pub.publish(self.target_motion)
|
|
try:
|
|
response = self.gazeboModelstate (self.vehicle_type+'_'+self.vehicle_id,'ground_plane')
|
|
except rospy.ServiceException, e:
|
|
print "Gazebo model state service call failed: %s"%e
|
|
odom = Odometry()
|
|
odom.header = response.header
|
|
odom.pose.pose = response.pose
|
|
odom.twist.twist = response.twist
|
|
self.odom_groundtruth_pub.publish(odom)
|
|
if (self.flight_mode is "LAND") and (self.local_pose.position.z < 0.15):
|
|
if(self.disarm()):
|
|
self.flight_mode = "DISARMED"
|
|
|
|
rate.sleep()
|
|
|
|
def local_pose_callback(self, msg):
|
|
self.local_pose = msg.pose
|
|
self.current_yaw = self.q2yaw(msg.pose.orientation)
|
|
|
|
def q2yaw(self, q):
|
|
if isinstance(q, Quaternion):
|
|
rotate_z_rad = q.yaw_pitch_roll[0]
|
|
else:
|
|
q_ = Quaternion(q.w, q.x, q.y, q.z)
|
|
rotate_z_rad = q_.yaw_pitch_roll[0]
|
|
|
|
return rotate_z_rad
|
|
|
|
def construct_target(self, x=0, y=0, z=0, vx=0, vy=0, vz=0, afx=0, afy=0, afz=0, yaw=0, yaw_rate=0):
|
|
target_raw_pose = PositionTarget()
|
|
target_raw_pose.coordinate_frame = self.coordinate_frame
|
|
|
|
if self.coordinate_frame == 1:
|
|
target_raw_pose.position.x = x
|
|
target_raw_pose.position.y = y
|
|
target_raw_pose.position.z = z
|
|
else:
|
|
target_raw_pose.position.x = -y
|
|
target_raw_pose.position.y = x
|
|
target_raw_pose.position.z = z
|
|
if self.transition_state == 'plane':
|
|
if self.plane_mission == 'takeoff':
|
|
target_raw_pose.type_mask = 4096
|
|
elif self.plane_mission == 'land':
|
|
target_raw_pose.type_mask = 8192
|
|
elif self.plane_mission == 'loiter':
|
|
target_raw_pose.type_mask = 12288
|
|
else:
|
|
target_raw_pose.type_mask = 16384
|
|
else:
|
|
if self.coordinate_frame == 1:
|
|
target_raw_pose.velocity.x = vx
|
|
target_raw_pose.velocity.y = vy
|
|
target_raw_pose.velocity.z = vz
|
|
|
|
target_raw_pose.acceleration_or_force.x = afx
|
|
target_raw_pose.acceleration_or_force.y = afy
|
|
target_raw_pose.acceleration_or_force.z = afz
|
|
else:
|
|
target_raw_pose.velocity.x = -vy
|
|
target_raw_pose.velocity.y = vx
|
|
target_raw_pose.velocity.z = vz
|
|
|
|
target_raw_pose.acceleration_or_force.x = -afy
|
|
target_raw_pose.acceleration_or_force.y = afx
|
|
target_raw_pose.acceleration_or_force.z = afz
|
|
|
|
target_raw_pose.yaw = yaw
|
|
target_raw_pose.yaw_rate = yaw_rate
|
|
|
|
if(self.motion_type == 0):
|
|
target_raw_pose.type_mask = PositionTarget.IGNORE_VX + PositionTarget.IGNORE_VY + PositionTarget.IGNORE_VZ \
|
|
+ PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ \
|
|
+ PositionTarget.IGNORE_YAW_RATE
|
|
if(self.motion_type == 1):
|
|
target_raw_pose.type_mask = PositionTarget.IGNORE_PX + PositionTarget.IGNORE_PY + PositionTarget.IGNORE_PZ \
|
|
+ PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ \
|
|
+ PositionTarget.IGNORE_YAW
|
|
if(self.motion_type == 2):
|
|
target_raw_pose.type_mask = PositionTarget.IGNORE_PX + PositionTarget.IGNORE_PY + PositionTarget.IGNORE_PZ \
|
|
+ PositionTarget.IGNORE_VX + PositionTarget.IGNORE_VY + PositionTarget.IGNORE_VZ \
|
|
+ PositionTarget.IGNORE_YAW
|
|
|
|
return target_raw_pose
|
|
|
|
def cmd_pose_flu_callback(self, msg):
|
|
self.coordinate_frame = 9
|
|
self.target_motion = self.construct_target(x=msg.position.x,y=msg.position.y,z=msg.position.z)
|
|
|
|
def cmd_pose_enu_callback(self, msg):
|
|
self.coordinate_frame = 1
|
|
self.target_motion = self.construct_target(x=msg.position.x,y=msg.position.y,z=msg.position.z)
|
|
|
|
def cmd_vel_flu_callback(self, msg):
|
|
self.hover_state_transition(msg.linear.x, msg.linear.y, msg.linear.z, msg.angular.z)
|
|
if self.hover_flag == 0:
|
|
self.coordinate_frame = 8
|
|
self.motion_type = 1
|
|
self.target_motion = self.construct_target(vx=msg.linear.x,vy=msg.linear.y,vz=msg.linear.z,yaw_rate=msg.angular.z)
|
|
|
|
def cmd_vel_enu_callback(self, msg):
|
|
self.hover_state_transition(msg.linear.x, msg.linear.y, msg.linear.z, msg.angular.z)
|
|
if self.hover_flag == 0:
|
|
self.coordinate_frame = 1
|
|
self.motion_type = 1
|
|
self.target_motion = self.construct_target(vx=msg.linear.x,vy=msg.linear.y,vz=msg.linear.z,yaw_rate=msg.angular.z)
|
|
|
|
def cmd_accel_flu_callback(self, msg):
|
|
self.hover_state_transition(msg.linear.x, msg.linear.y, msg.linear.z, msg.angular.z)
|
|
if self.hover_flag == 0:
|
|
self.coordinate_frame = 8
|
|
self.motion_type = 2
|
|
self.target_motion = self.construct_target(afx=msg.linear.x,afy=msg.linear.y,afz=msg.linear.z,yaw_rate=msg.angular.z)
|
|
|
|
def cmd_accel_enu_callback(self, msg):
|
|
self.hover_state_transition(msg.linear.x, msg.linear.y, msg.linear.z, msg.angular.z)
|
|
if self.hover_flag == 0:
|
|
self.coordinate_frame = 1
|
|
self.motion_type = 2
|
|
self.target_motion = self.construct_target(afx=msg.linear.x,afy=msg.linear.y,afz=msg.linear.z,yaw_rate=msg.angular.z)
|
|
|
|
def hover_state_transition(self,x,y,z,w):
|
|
if abs(x) > 0.005 or abs(y) > 0.005 or abs(z) > 0.005 or abs(w) > 0.005:
|
|
self.hover_flag = 0
|
|
|
|
def cmd_callback(self, msg):
|
|
if msg.data == '':
|
|
return
|
|
|
|
elif msg.data == 'ARM':
|
|
self.arm_state =self.arm()
|
|
print(self.vehicle_type+'_'+self.vehicle_id+": Armed "+str(self.arm_state))
|
|
|
|
elif msg.data == 'DISARM':
|
|
self.arm_state = not self.disarm()
|
|
print(self.vehicle_type+'_'+self.vehicle_id+": Armed "+str(self.arm_state))
|
|
|
|
elif msg.data == 'multirotor':
|
|
self.transition_state = msg.data
|
|
print(self.vehicle_type+'_'+self.vehicle_id+':'+msg.data)
|
|
print(self.transition(state=3))
|
|
|
|
elif msg.data == 'plane':
|
|
self.transition_state = msg.data
|
|
print(self.vehicle_type+'_'+self.vehicle_id+':'+msg.data)
|
|
print(self.transition(state=4))
|
|
|
|
elif msg.data in ['loiter', 'idle']:
|
|
self.plane_mission = msg.data
|
|
print(self.vehicle_type+'_'+self.vehicle_id+':'+self.plane_mission)
|
|
|
|
else:
|
|
self.flight_mode = msg.data
|
|
self.flight_mode_switch()
|
|
|
|
def arm(self):
|
|
if self.armService(True):
|
|
return True
|
|
else:
|
|
print(self.vehicle_type+'_'+self.vehicle_id+": arming failed!")
|
|
return False
|
|
|
|
def disarm(self):
|
|
if self.armService(False):
|
|
return True
|
|
else:
|
|
print(self.vehicle_type+'_'+self.vehicle_id+": disarming failed!")
|
|
return False
|
|
|
|
def hover(self):
|
|
self.coordinate_frame = 1
|
|
self.motion_type = 0
|
|
self.target_motion = self.construct_target(x=self.local_pose.position.x,y=self.local_pose.position.y,z=self.local_pose.position.z,yaw=self.current_heading,yaw=self.current_yaw)
|
|
|
|
def flight_mode_switch(self):
|
|
if self.flight_mode == 'HOVER':
|
|
self.hover_flag = 1
|
|
self.hover()
|
|
print(self.vehicle_type+'_'+self.vehicle_id+": Hover")
|
|
elif self.flightModeService(custom_mode=self.flight_mode):
|
|
self.hover_flag = 0
|
|
print(self.vehicle_type+'_'+self.vehicle_id+": "+self.flight_mode)
|
|
return True
|
|
else:
|
|
print(self.vehicle_type+'_'+self.vehicle_id+": "+self.flight_mode+"Failed")
|
|
return False
|
|
|
|
if __name__ == '__main__':
|
|
communication = Communication(sys.argv[1],sys.argv[2])
|
|
communication.start()
|
|
|