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image: add markers flight example

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This commit is contained in:
Oleg Kalachev
2020-03-19 13:09:31 +03:00
parent bbcf75b806
commit 2d49f58fb8
2 changed files with 38 additions and 1 deletions
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2
builder/assets/examples/flight.py
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@@ -15,7 +15,7 @@ set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
land = rospy.ServiceProxy('land', Trigger)
# Takeoff and hover 1 m above the ground
# Take off and hover 1 m above the ground
navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
# Wait for 3 seconds

37
builder/assets/examples/flight_marker.py Normal file
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@@ -0,0 +1,37 @@
# Information: https://clever.coex.tech/en/programming.html
import rospy
from clover import srv
from std_srvs.srv import Trigger
rospy.init_node('flight')
get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
navigate = rospy.ServiceProxy('navigate', srv.Navigate)
navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
land = rospy.ServiceProxy('land', Trigger)
# Take off and hover 1 m above the ground
navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
# Wait for 3 seconds
rospy.sleep(3)
# Fly 1 meter above ArUco marker 0
navigate(x=0, y=0, z=1, frame_id='aruco_0')
# Wait for 3 seconds
rospy.sleep(3)
# Fly to x=1 y=1 z=1 relative to ArUco markers map
navigate(x=1, y=1, z=1, frame_id='aruco_map')
# Wait for 3 seconds
rospy.sleep(3)
# Perform landing
land()