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Drone: Update visual_pose_watchdog to latest config

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Arthur Golubtsov
2020-01-21 03:31:16 +00:00
parent 28d1213456
commit e1308e9ee8
1 changed files with 16 additions and 9 deletions
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25
Drone/visual_pose_watchdog.py
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@@ -1,10 +1,10 @@
import rospy
import os
import sys
import time
import math
import logging
import threading
import ConfigParser
from clever.srv import SetAttitude
from sensor_msgs.msg import Range
from mavros_msgs.msg import State, PositionTarget
@@ -13,15 +13,22 @@ from std_msgs.msg import Bool
from std_srvs.srv import Trigger, TriggerResponse
from geometry_msgs.msg import PoseStamped
config = ConfigParser.ConfigParser()
config.read("client_config.ini")
import inspect # Add parent dir to PATH to import messaging_lib
current_dir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parent_dir = os.path.dirname(current_dir)
sys.path.insert(0, parent_dir)
visual_pose_timeout = config.getfloat('VISUAL_POSE_WATCHDOG', 'timeout')
pos_delta_max = config.getfloat('VISUAL_POSE_WATCHDOG', 'pos_delta_max')
timeout_action = config.get('VISUAL_POSE_WATCHDOG', 'action')
emergency_land_thrust = config.getfloat('VISUAL_POSE_WATCHDOG', 'emergency_land_thrust')
emergency_land_decrease_thrust_after = config.getfloat('VISUAL_POSE_WATCHDOG', 'emergency_land_decrease_thrust_after')
timeout_to_disarm = config.getfloat('VISUAL_POSE_WATCHDOG', 'timeout_to_disarm')
from config import ConfigManager
config = ConfigManager()
config.load_config_and_spec("config/client.ini")
visual_pose_timeout = config.visual_pose_watchdog_timeout
pos_delta_max = config.visual_pose_watchdog_pos_delta_max
timeout_action = config.visual_pose_watchdog_action
emergency_land_thrust = config.emergency_land_thrust
emergency_land_decrease_thrust_after = config.emergency_land_decrease_thrust_after
timeout_to_disarm = config.emergency_land_disarm_timeout
logging.basicConfig( # TODO all prints as logs
level=logging.DEBUG, # INFO