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XTDrone
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XTDrone/control/multirotor_keyboard_control.py

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Python
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import rospy
from geometry_msgs.msg import Twist
import sys, select, os
import tty, termios
from std_msgs.msg import String
MAX_LINEAR = 10
MAX_ANG_VEL = 0.1
LINEAR_STEP_SIZE = 0.01
ANG_VEL_STEP_SIZE = 0.01
cmd_vel_mask = False
ctrl_leader = False
msg2all = """
Control Your XTDrone!
To all drones (press g to control the leader)
---------------------------
1 2 3 4 5 6 7 8 9 0
w r t y i
a s d g j k l
x v b n ,
w/x : increase/decrease forward velocity
a/d : increase/decrease leftward velocity
i/, : increase/decrease upward velocity
j/l : increase/decrease orientation
r : return home
t/y : arm/disarm
v/n : takeoff/land
b : offboard
s/k : hover and remove the mask of keyboard control
0~9 : extendable mission(eg.different formation configuration)
this will mask the keyboard control
g : control the leader
CTRL-C to quit
"""
msg2leader = """
Control Your XTDrone!
To the leader (press g to control all drones)
---------------------------
1 2 3 4 5 6 7 8 9 0
w r t y i
a s d g j k l
x v b n ,
w/x : increase/decrease forward velocity
a/d : increase/decrease leftward velocity
i/, : increase/decrease upward velocity
j/l : increase/decrease orientation
r : return home
t/y : arm/disarm
v/n : takeoff(disenabled now)/land
b : offboard
s/k : hover and remove the mask of keyboard control
0~9 : extendable mission(eg.different formation configuration)
this will mask the keyboard control
g : control all drones
CTRL-C to quit
"""
e = """
Communications Failed
"""
def getKey():
tty.setraw(sys.stdin.fileno())
rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
if rlist:
key = sys.stdin.read(1)
else:
key = ''
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
return key
def print_msg():
if ctrl_leader:
print(msg2leader)
else:
print(msg2all)
if __name__=="__main__":
settings = termios.tcgetattr(sys.stdin)
multirotor_type = sys.argv[1]
multirotor_num = int(sys.argv[2])
control_type = sys.argv[3]
if multirotor_num == 9:
formation_configs = ['waiting', 'cube', 'pyramid', 'triangle']
if multirotor_num == 6:
formation_configs = ['waiting', 'T', 'diamond', 'triangle']
cmd= String()
twist = Twist()
rospy.init_node('multirotor_keyboard_multi_control')
if control_type == 'vel':
multi_cmd_vel_flu_pub = [None]*multirotor_num
multi_cmd_pub = [None]*multirotor_num
for i in range(multirotor_num):
multi_cmd_vel_flu_pub[i] = rospy.Publisher('/xtdrone/'+multirotor_type+'_'+str(i)+'/cmd_vel_flu', Twist, queue_size=10)
multi_cmd_pub[i] = rospy.Publisher('/xtdrone/'+multirotor_type+'_'+str(i)+'/cmd',String,queue_size=10)
leader_cmd_vel_flu_pub = rospy.Publisher("/xtdrone/leader/cmd_vel_flu", Twist, queue_size=10)
leader_cmd_pub = rospy.Publisher("/xtdrone/leader/cmd", String, queue_size=10)
else:
multi_cmd_accel_flu_pub = [None]*multirotor_num
multi_cmd_pub = [None]*multirotor_num
for i in range(multirotor_num):
multi_cmd_accel_flu_pub[i] = rospy.Publisher('/xtdrone/'+multirotor_type+'_'+str(i)+'/cmd_accel_flu', Twist, queue_size=10)
multi_cmd_pub[i] = rospy.Publisher('/xtdrone/'+multirotor_type+'_'+str(i)+'/cmd',String,queue_size=10)
leader_cmd_accel_flu_pub = rospy.Publisher("/xtdrone/leader/cmd_accel_flu", Twist, queue_size=10)
leader_cmd_pub = rospy.Publisher("/xtdrone/leader/cmd", String, queue_size=10)
forward = 0.0
leftward = 0.0
upward = 0.0
angular = 0.0
print_msg()
while(1):
key = getKey()
if key == 'w' :
forward = forward + LINEAR_STEP_SIZE
print_msg()
if control_type == 'vel':
print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
else:
print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
elif key == 'x' :
forward = forward - LINEAR_STEP_SIZE
print_msg()
if control_type == 'vel':
print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
else:
print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
elif key == 'a' :
leftward = leftward + LINEAR_STEP_SIZE
print_msg()
if control_type == 'vel':
print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
else:
print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
elif key == 'd' :
leftward = leftward - LINEAR_STEP_SIZE
print_msg()
if control_type == 'vel':
print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
else:
print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
elif key == 'i' :
upward = upward + LINEAR_STEP_SIZE
print_msg()
if control_type == 'vel':
print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
else:
print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
elif key == ',' :
upward = upward - LINEAR_STEP_SIZE
print_msg()
if control_type == 'vel':
print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
else:
print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
elif key == 'j':
angular = angular + ANG_VEL_STEP_SIZE
print_msg()
print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
elif key == 'l':
angular = angular - ANG_VEL_STEP_SIZE
print_msg()
print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
elif key == 'r':
cmd = 'AUTO.RTL'
print_msg()
print('Returning home')
elif key == 't':
cmd = 'ARM'
print_msg()
print('Arming')
elif key == 'y':
cmd = 'DISARM'
print_msg()
print('Disarming')
elif key == 'v':
cmd = 'AUTO.TAKEOFF'
cmd = ''
print_msg()
#print('Takeoff mode is disenabled now')
elif key == 'b':
cmd = 'OFFBOARD'
print_msg()
print('Offboard')
elif key == 'n':
cmd = 'AUTO.LAND'
print_msg()
print('Landing')
elif key == 'g':
ctrl_leader = not ctrl_leader
print_msg()
elif key in ['k', 's']:
cmd_vel_mask = False
forward = 0.0
leftward = 0.0
upward = 0.0
angular = 0.0
cmd = 'HOVER'
print_msg()
print("currently:\t forward vel %.2f\t leftward vel %.2f\t upward vel %.2f\t angular %.2f " % (forward, leftward, upward, angular))
print('Hover')
else:
for i in range(10):
if key == str(i):
cmd = formation_configs[i]
print_msg()
print(cmd)
cmd_vel_mask = True
if (key == '\x03'):
break
if forward > MAX_LINEAR:
forward = MAX_LINEAR
elif forward < -MAX_LINEAR:
forward = -MAX_LINEAR
if leftward > MAX_LINEAR:
leftward = MAX_LINEAR
elif leftward < -MAX_LINEAR:
leftward = -MAX_LINEAR
if upward > MAX_LINEAR:
upward = MAX_LINEAR
elif upward < -MAX_LINEAR:
upward = -MAX_LINEAR
if angular > MAX_ANG_VEL:
angular = MAX_ANG_VEL
elif angular < -MAX_ANG_VEL:
angular = - MAX_ANG_VEL
twist.linear.x = -leftward; twist.linear.y = forward ; twist.linear.z = upward
twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = angular
for i in range(multirotor_num):
if ctrl_leader:
if control_type == 'vel':
leader_cmd_vel_flu_pub.publish(twist)
else:
leader_cmd_aceel_flu_pub.publish(twist)
leader_cmd_pub.publish(cmd)
else:
if not cmd_vel_mask:
if control_type == 'vel':
multi_cmd_vel_flu_pub[i].publish(twist)
else:
multi_cmd_accel_flu_pub[i].publish(twist)
multi_cmd_pub[i].publish(cmd)
cmd = ''
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
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