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remove gazebo plugin command fake, fix some lint warnings

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This commit is contained in:
Andreas Antener
2015-03-15 15:44:01 +01:00
parent 4b65e62595
commit 6f44b4d354
1 changed files with 8 additions and 16 deletions
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integrationtests/demo_tests/manual_input.py
+8 -16
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@@ -35,7 +35,6 @@
#
# @author Andreas Antener <andreas@uaventure.com>
#
import sys
import rospy
from px4.msg import manual_control_setpoint
@@ -46,17 +45,12 @@ from std_msgs.msg import Header
#
# Manual input control helper
#
# FIXME: this is not the way to do it! ATM it fakes input to iris/command/attitude because else
# the simulator does not instantiate our controller. Probably this whole class will disappear once
# arming works correctly.
#
class ManualInput:
class ManualInput(object):
def __init__(self):
rospy.init_node('test_node', anonymous=True)
self.pubMcsp = rospy.Publisher('iris/manual_control_setpoint', manual_control_setpoint, queue_size=10)
self.pubOff = rospy.Publisher('iris/offboard_control_mode', offboard_control_mode, queue_size=10)
self.pubAtt = rospy.Publisher('iris/command/attitude', CommandAttitudeThrust, queue_size=10)
self.pub_mcsp = rospy.Publisher('iris/manual_control_setpoint', manual_control_setpoint, queue_size=10)
self.pub_off = rospy.Publisher('iris/offboard_control_mode', offboard_control_mode, queue_size=10)
def arm(self):
rate = rospy.Rate(10) # 10hz
@@ -81,9 +75,7 @@ class ManualInput:
rospy.loginfo("zeroing")
time = rospy.get_rostime().now()
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
self.pubMcsp.publish(pos)
# Fake input to iris commander
self.pubAtt.publish(att)
self.pub_mcsp.publish(pos)
rate.sleep()
count = count + 1
@@ -93,7 +85,7 @@ class ManualInput:
rospy.loginfo("arming")
time = rospy.get_rostime().now()
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
self.pubMcsp.publish(pos)
self.pub_mcsp.publish(pos)
rate.sleep()
count = count + 1
@@ -118,7 +110,7 @@ class ManualInput:
rospy.loginfo("triggering posctl")
time = rospy.get_rostime().now()
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
self.pubMcsp.publish(pos)
self.pub_mcsp.publish(pos)
rate.sleep()
count = count + 1
@@ -147,7 +139,7 @@ class ManualInput:
rospy.loginfo("setting offboard mode")
time = rospy.get_rostime().now()
mode.timestamp = time.secs * 1e6 + time.nsecs / 1000
self.pubOff.publish(mode)
self.pub_off.publish(mode)
rate.sleep()
count = count + 1
@@ -169,7 +161,7 @@ class ManualInput:
rospy.loginfo("triggering offboard")
time = rospy.get_rostime().now()
pos.timestamp = time.secs * 1e6 + time.nsecs / 1000
self.pubMcsp.publish(pos)
self.pub_mcsp.publish(pos)
rate.sleep()
count = count + 1