CopterExpress/clover
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Merge branch 'master' into known_vertical

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This commit is contained in:
Oleg Kalachev
2022-11-11 05:59:02 +06:00
parent 8fd69e4ea5 d4a83bdf58
commit 4877d0101b
1 changed files with 12 additions and 6 deletions
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18
clover/src/autotest/autotest_aruco.py
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@@ -13,7 +13,12 @@ from util import handle_response
rospy.init_node('autotest_aruco', disable_signals=True) # disable signals to allow interrupting with ctrl+c
flow_client = dynamic_reconfigure.client.Client('optical_flow')
try:
flow_client = dynamic_reconfigure.client.Client('optical_flow', timeout=2)
except rospy.ROSException:
flow_client = None
print('Cannot configure optical flow, skip')
get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
navigate = handle_response(rospy.ServiceProxy('navigate', srv.Navigate))
land = handle_response(rospy.ServiceProxy('land', Trigger))
@@ -67,12 +72,13 @@ input('Go to center %g %g 1.5 speed 5 [enter] ' % (center_x, center_y))
navigate_wait(x=center_x, y=center_y, z=1.5, speed=5, frame_id='aruco_map')
print_current_map_position()
input('Disable optical flow and keep hovering [enter] ')
flow_client.update_configuration({'enabled': False})
rospy.sleep(5)
if flow_client:
input('Disable optical flow and keep hovering [enter] ')
flow_client.update_configuration({'enabled': False})
rospy.sleep(5)
input('Enable optical flow back [enter] ')
flow_client.update_configuration({'enabled': True})
input('Enable optical flow back [enter] ')
flow_client.update_configuration({'enabled': True})
input('Go to side 1 %g 2 heading top [enter] ' % (center_y))
navigate_wait(x=1, y=center_y, z=2, yaw=1.57, frame_id='aruco_map')