CopterExpress/clover
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Make examples more verbose

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This commit is contained in:
Oleg Kalachev
2021-08-23 22:42:47 +03:00
parent 5f9b3e82db
commit 33a6dffb1f
3 changed files with 10 additions and 10 deletions
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6
clover/examples/flight.py
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@@ -15,17 +15,17 @@ 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
print('Take off and hover 1 m above the ground')
navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
# Wait for 5 seconds
rospy.sleep(5)
# Fly forward 1 m
print('Fly forward 1 m')
navigate(x=1, y=0, z=0, frame_id='body')
# Wait for 5 seconds
rospy.sleep(5)
# Perform landing
print('Perform landing')
land()

8
clover/examples/flight_marker.py
View File

@@ -15,23 +15,23 @@ 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
print('Take off and hover 1 m above the ground')
navigate(x=0, y=0, z=1, frame_id='body', auto_arm=True)
# Wait for 5 seconds
rospy.sleep(5)
# Fly 1 meter above ArUco marker 0
print('Fly 1 meter above ArUco marker 0')
navigate(x=0, y=0, z=1, frame_id='aruco_0')
# Wait for 5 seconds
rospy.sleep(5)
# Fly to x=1 y=1 z=1 relative to ArUco markers map
print('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 5 seconds
rospy.sleep(5)
# Perform landing
print('Perform landing')
land()

6
clover/examples/navigate_wait.py
View File

@@ -31,11 +31,11 @@ def navigate_wait(x=0, y=0, z=0, yaw=float('nan'), yaw_rate=0, speed=0.5, \
return res
rospy.sleep(0.2)
# Take off 1 meter
print('Take off 1 meter')
navigate_wait(z=1, frame_id='body', auto_arm=True)
# Fly forward 1 m
print('Fly forward 1 m')
navigate_wait(x=1, frame_id='body')
# Land
print('Land')
land()