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Client: make standalone settings group for floor frame

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This commit is contained in:
Arthur Golubtsov
2019-10-07 17:36:34 +01:00
parent 4d3283d3ad
commit 37ca22b747
1 changed files with 16 additions and 17 deletions
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33
Drone/copter_client.py
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@@ -68,26 +68,25 @@ class CopterClient(client.Client):
task_manager_instance.start()
if self.FRAME_ID == "floor":
try:
self.FRAME_FLOOR_DX = self.config.getfloat('COPTERS', 'frame_floor_dx')
self.FRAME_FLOOR_DY = self.config.getfloat('COPTERS', 'frame_floor_dy')
self.FRAME_FLOOR_DZ = self.config.getfloat('COPTERS', 'frame_floor_dz')
self.FRAME_FLOOR_ROLL = self.config.getfloat('COPTERS', 'frame_floor_roll')
self.FRAME_FLOOR_PITCH = self.config.getfloat('COPTERS', 'frame_floor_pitch')
self.FRAME_FLOOR_YAW = self.config.getfloat('COPTERS', 'frame_floor_yaw')
self.FRAME_FLOOR_PARENT = self.config.get('COPTERS', 'frame_floor_parent')
#print(self.FRAME_FLOOR_PARENT)
#print(self.FRAME_ID)
self.FLOOR_DX = self.config.getfloat('FLOOR FRAME', 'x')
self.FLOOR_DY = self.config.getfloat('FLOOR FRAME', 'y')
self.FLOOR_DZ = self.config.getfloat('FLOOR FRAME', 'z')
self.FLOOR_ROLL = self.config.getfloat('FLOOR FRAME', 'roll')
self.FLOOR_PITCH = self.config.getfloat('FLOOR FRAME', 'pitch')
self.FLOOR_YAW = self.config.getfloat('FLOOR FRAME', 'yaw')
self.FLOOR_PARENT = self.config.get('FLOOR FRAME', 'parent')
except Exception as e:
pass
raise Exception("Can't make floor frame!")
quit()
else:
trans = TransformStamped()
trans.transform.translation.x = self.FRAME_FLOOR_DX
trans.transform.translation.y = self.FRAME_FLOOR_DY
trans.transform.translation.z = self.FRAME_FLOOR_DZ
trans.transform.rotation = Quaternion(*quaternion_from_euler(math.radians(self.FRAME_FLOOR_ROLL),
math.radians(self.FRAME_FLOOR_PITCH),
math.radians(self.FRAME_FLOOR_YAW)))
trans.header.frame_id = self.FRAME_FLOOR_PARENT
trans.transform.translation.x = self.FLOOR_DX
trans.transform.translation.y = self.FLOOR_DY
trans.transform.translation.z = self.FLOOR_DZ
trans.transform.rotation = Quaternion(*quaternion_from_euler(math.radians(self.FLOOR_ROLL),
math.radians(self.FLOOR_PITCH),
math.radians(self.FLOOR_YAW)))
trans.header.frame_id = self.FLOOR_PARENT
trans.child_frame_id = self.FRAME_ID
static_bloadcaster.sendTransform(trans)
start_subscriber()