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simple_offboard: default speed for navigate service

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This commit is contained in:
Oleg Kalachev
2018-09-04 02:23:28 +03:00
parent c45f7b8148
commit 181a8aeb1b
1 changed files with 7 additions and 3 deletions
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10
clever/src/simple_offboard.py
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@@ -89,6 +89,7 @@ SETPOINT_RATE = rospy.get_param('~setpoint_rate', 30)
LOCAL_FRAME = rospy.get_param('~local_frame', 'local_origin')
LAND_MODE = rospy.get_param('~land_mode', 'AUTO.LAND')
LAND_TIMEOUT = rospy.Duration(rospy.get_param('~land_timeout', 2))
DEFAULT_SPEED = rospy.get_param('~default_speed', 0.5)
def offboard_and_arm():
@@ -261,9 +262,12 @@ def handle(req):
rospy.logwarn('No connection to the FCU')
return {'message': 'No connection to the FCU'}
if isinstance(req, (srv.NavigateRequest, srv.NavigateGlobalRequest)) and req.speed <= 0:
rospy.logwarn('Navigate speed must be greater than zero, %s passed')
return {'message': 'Navigate speed must be greater than zero, %s passed' % req.speed}
if isinstance(req, (srv.NavigateRequest, srv.NavigateGlobalRequest)):
if req.speed < 0:
rospy.logwarn('Navigate speed must be positive, %s passed')
return {'message': 'Navigate speed must be positive, %s passed' % req.speed}
elif req.speed == 0:
req.speed = DEFAULT_SPEED
if isinstance(req, (srv.NavigateRequest, srv.NavigateGlobalRequest)) and \
(pose is None or rospy.get_rostime() - pose.header.stamp > LOCAL_POSITION_TIMEOUT):