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