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Significant update to simple_offboard node

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* Allow using nans for most of services parameters
* Add terrain frame
* Remove yaw_rate parameter from most services
* Add set_yaw and set_yaw_rate services
* Correct order for pitch and roll everywhere to match XYZ convention
* Add simple_offboard/state topic
* Add essential tests
* Stop publishing setpoints when land called
This commit is contained in:
Oleg Kalachev
2023-01-12 11:00:05 +03:00
parent 460c3fdbe1
commit 0cfdac43ec
27 changed files with 942 additions and 260 deletions
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7
clover_blocks/www/python.js
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@@ -276,10 +276,11 @@ Blockly.Python.angle = function(block) {
}
Blockly.Python.set_yaw = function(block) {
rosDefinitions.setYaw = true;
simpleOffboard();
let yaw = Blockly.Python.valueToCode(block, 'YAW', Blockly.Python.ORDER_NONE);
let frameId = buildFrameId(block);
let code = `navigate(x=float('nan'), y=float('nan'), z=float('nan'), yaw=${yaw}, frame_id=${frameId})\n`;
let code = `set_yaw(yaw=${yaw}, frame_id=${frameId})\n`;
if (block.getFieldValue('WAIT') == 'TRUE') {
rosDefinitions.waitYaw = true;
simpleOffboard();
@@ -328,11 +329,11 @@ Blockly.Python.setpoint = function(block) {
} else if (type == 'ATTITUDE') {
rosDefinitions.setAttitude = true;
simpleOffboard();
return `set_attitude(pitch=${pitch}, roll=${roll}, yaw=${yaw}, thrust=${thrust}, frame_id=${frameId})\n`;
return `set_attitude(roll=${roll}, pitch=${pitch}, yaw=${yaw}, thrust=${thrust}, frame_id=${frameId})\n`;
} else if (type == 'RATES') {
rosDefinitions.setRates = true;
simpleOffboard();
return `set_rates(pitch_rate=${pitch}, roll_rate=${roll}, yaw_rate=${yaw}, thrust=${thrust})\n`;
return `set_rates(roll_rate=${roll}, pitch_rate=${pitch}, yaw_rate=${yaw}, thrust=${thrust})\n`;
}
}