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Updates docs/simple_offboard.md

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Oleg Kalachev
2017-12-06 06:06:39 +03:00
parent b51e621f77
commit 713136b6dd
1 changed files with 13 additions and 24 deletions
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docs/simple_offboard.md
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@@ -23,43 +23,32 @@ Simple offboard
```python
import rospy
from clever.srv import Navigate, \
SetPosition, \
SetPositionYawRate, \
SetPositionGlobal, \
SetPositionGlobalYawRate, \
SetVelocity, \
SetVelocityYawRate, \
SetAttitude, \
SetAttitudeYawRate, \
SetRatesYaw, \
SetRates, \
GetTelemetry
from clever import srv
from std_srvs.srv import Trigger
rospy.init_node('foo')
# Создаем прокси ко всем сервисам:
set_position = rospy.ServiceProxy('/navigate', Navigate)
set_position = rospy.ServiceProxy('/navigate', srv.Navigate)
set_position = rospy.ServiceProxy('/set_position', SetPosition)
set_position = rospy.ServiceProxy('/set_position', srv.SetPosition)
set_position_yaw_rate =
rospy.ServiceProxy('/set_position/yaw_rate', SetPositionYawRate)
rospy.ServiceProxy('/set_position/yaw_rate', srv.SetPositionYawRate)
set_position_global = rospy.ServiceProxy('/set_position_global', SetPositionGlobal)
set_position_global_yaw_rate = rospy.ServiceProxy('/set_position_global/yaw_rate', SetPositionGlobalYawRate)
set_position_global = rospy.ServiceProxy('/set_position_global', srv.SetPositionGlobal)
set_position_global_yaw_rate = rospy.ServiceProxy('/set_position_global/yaw_rate', srv.SetPositionGlobalYawRate)
set_velocity = rospy.ServiceProxy('/set_velocity', SetVelocity)
set_velocity_yaw_rate = rospy.ServiceProxy('/set_Velocity/yaw_rate', SetVelocityYawRate)
set_velocity = rospy.ServiceProxy('/set_velocity', srv.SetVelocity)
set_velocity_yaw_rate = rospy.ServiceProxy('/set_Velocity/yaw_rate', srv.SetVelocityYawRate)
set_attitude = rospy.ServiceProxy('/set_attitude', SetAttitude)
set_attitude_yaw_rate = rospy.ServiceProxy('/set_attitude/yaw_rate', SetattitudeYawRate)
set_attitude = rospy.ServiceProxy('/set_attitude', srv.SetAttitude)
set_attitude_yaw_rate = rospy.ServiceProxy('/set_attitude/yaw_rate', srv.SetAttitudeYawRate)
set_rates_yaw = rospy.ServiceProxy('/set_rates/yaw', SetRatesYaw)
set_rates = rospy.ServiceProxy('/set_rates', SetRates)
set_rates_yaw = rospy.ServiceProxy('/set_rates/yaw', srv.SetRatesYaw)
set_rates = rospy.ServiceProxy('/set_rates', srv.SetRates)
get_telemetry = rospy.ServiceProxy('/get_telemetry', get_telemetry)
get_telemetry = rospy.ServiceProxy('/get_telemetry', srv.get_telemetry)
release = rospy.ServiceProxy('/release', Trigger)
```