From fc2c8168ac40901844f69b37df820b6d0a3b6dcb Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Thu, 7 Dec 2017 02:18:51 +0300 Subject: [PATCH] simple_offboard: use persistent connection to arming and set_mode services --- clever/src/simple_offboard.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/clever/src/simple_offboard.py b/clever/src/simple_offboard.py index ef04017f..83a9b8cd 100755 --- a/clever/src/simple_offboard.py +++ b/clever/src/simple_offboard.py @@ -52,8 +52,8 @@ position_pub = rospy.Publisher('/mavros/setpoint_raw/local', PositionTarget, que attitude_pub = rospy.Publisher('/mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=1) target_pub = rospy.Publisher('~target', PoseStamped, queue_size=1) -arming = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool) -set_mode = rospy.ServiceProxy('/mavros/set_mode', SetMode) +arming = rospy.ServiceProxy('/mavros/cmd/arming', CommandBool, persistent=True) +set_mode = rospy.ServiceProxy('/mavros/set_mode', SetMode, persistent=True) pose = None