150 lines
5.6 KiB
Python
150 lines
5.6 KiB
Python
import rospy
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from mavros_msgs.msg import PositionTarget
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from mavros_msgs.srv import CommandBool, SetMode
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from geometry_msgs.msg import PoseStamped, Pose
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from nav_msgs.msg import Odometry
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from gazebo_msgs.srv import GetModelState
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from std_msgs.msg import String
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from pyquaternion import Quaternion
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import sys
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class Communication:
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def __init__(self, vehicle_id):
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self.vehicle_type = 'plane'
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self.vehicle_id = vehicle_id
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self.local_pose = None
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self.target_motion = PositionTarget()
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self.arm_state = False
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self.motion_type = 0
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self.flight_mode = None
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self.mission = None
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'''
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ros subscribers
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'''
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self.local_pose_sub = rospy.Subscriber(self.vehicle_type+'_'+self.vehicle_id+"/mavros/local_position/pose", PoseStamped, self.local_pose_callback)
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self.cmd_pose_flu_sub = rospy.Subscriber("/xtdrone/"+self.vehicle_type+'_'+self.vehicle_id+"/cmd_pose_flu", Pose, self.cmd_pose_flu_callback)
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self.cmd_pose_enu_sub = rospy.Subscriber("/xtdrone/"+self.vehicle_type+'_'+self.vehicle_id+"/cmd_pose_enu", Pose, self.cmd_pose_enu_callback)
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self.cmd_sub = rospy.Subscriber("/xtdrone/"+self.vehicle_type+'_'+self.vehicle_id+"/cmd",String,self.cmd_callback)
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'''
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ros publishers
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'''
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self.target_motion_pub = rospy.Publisher(self.vehicle_type+'_'+self.vehicle_id+"/mavros/setpoint_raw/local", PositionTarget, queue_size=10)
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self.odom_groundtruth_pub = rospy.Publisher('/xtdrone/'+self.vehicle_type+'_'+self.vehicle_id+'/ground_truth/odom', Odometry, queue_size=10)
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'''
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ros services
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'''
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self.armService = rospy.ServiceProxy(self.vehicle_type+'_'+self.vehicle_id+"/mavros/cmd/arming", CommandBool)
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self.flightModeService = rospy.ServiceProxy(self.vehicle_type+'_'+self.vehicle_id+"/mavros/set_mode", SetMode)
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self.gazeboModelstate = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState)
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print("communication initialized")
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def start(self):
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rospy.init_node(self.vehicle_type+'_'+self.vehicle_id+"_communication")
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rate = rospy.Rate(100)
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'''
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main ROS thread
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'''
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while not rospy.is_shutdown():
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self.target_motion_pub.publish(self.target_motion)
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try:
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response = self.gazeboModelstate (self.vehicle_type+'_'+self.vehicle_id,'ground_plane')
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except rospy.ServiceException, e:
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print "Gazebo model state service call failed: %s"%e
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odom = Odometry()
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odom.header = response.header
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odom.pose.pose = response.pose
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odom.twist.twist = response.twist
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self.odom_groundtruth_pub.publish(odom)
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if (self.flight_mode is "LAND") and (self.local_pose.pose.position.z < 0.15):
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if(self.disarm()):
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self.flight_mode = "DISARMED"
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rate.sleep()
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def local_pose_callback(self, msg):
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self.local_pose = msg
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def construct_target(self, x=0, y=0, z=0):
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target_raw_pose = PositionTarget()
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target_raw_pose.coordinate_frame = self.coordinate_frame
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if self.coordinate_frame == 1:
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target_raw_pose.position.x = x
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target_raw_pose.position.y = y
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target_raw_pose.position.z = z
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else:
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target_raw_pose.position.x = -y
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target_raw_pose.position.y = x
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target_raw_pose.position.z = z
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if self.mission == 'takeoff':
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target_raw_pose.type_mask = 4096
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elif self.mission == 'land':
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target_raw_pose.type_mask = 8192
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elif self.mission == 'loiter':
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target_raw_pose.type_mask = 12288
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else:
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target_raw_pose.type_mask = 16384
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return target_raw_pose
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def cmd_pose_flu_callback(self, msg):
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self.coordinate_frame = 9
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self.target_motion = self.construct_target(x=msg.position.x,y=msg.position.y,z=msg.position.z)
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def cmd_pose_enu_callback(self, msg):
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self.coordinate_frame = 1
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self.target_motion = self.construct_target(x=msg.position.x,y=msg.position.y,z=msg.position.z)
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def cmd_callback(self, msg):
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if msg.data == '':
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return
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elif msg.data == 'ARM':
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self.arm_state =self.arm()
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print(self.vehicle_type+'_'+self.vehicle_id+": Armed "+str(self.arm_state))
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elif msg.data == 'DISARM':
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self.arm_state = not self.disarm()
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print(self.vehicle_type+'_'+self.vehicle_id+": Armed "+str(self.arm_state))
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elif msg.data in ['takeoff', 'land', 'loiter', 'idle']:
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self.mission = msg.data
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print(self.mission)
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else:
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self.flight_mode = msg.data
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self.flight_mode_switch()
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def arm(self):
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if self.armService(True):
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return True
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else:
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print(self.vehicle_type+'_'+self.vehicle_id+": arming failed!")
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return False
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def disarm(self):
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if self.armService(False):
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return True
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else:
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print(self.vehicle_type+'_'+self.vehicle_id+": disarming failed!")
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return False
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def flight_mode_switch(self):
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if self.flightModeService(custom_mode=self.flight_mode):
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print(self.vehicle_type+'_'+self.vehicle_id+": "+self.flight_mode)
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return True
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else:
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print(self.vehicle_type+'_'+self.vehicle_id+": "+self.flight_mode+"failed")
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return False
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if __name__ == '__main__':
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communication = Communication(sys.argv[1])
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communication.start()
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