222 lines
6.9 KiB
Python
Executable File
222 lines
6.9 KiB
Python
Executable File
import rospy
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from geometry_msgs.msg import Pose
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import sys, select, os
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import tty, termios
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from std_msgs.msg import String
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MAX_LINEAR = 1000
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MAX_ANG_VEL = 0.1
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LINEAR_STEP_SIZE = 0.1
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ANG_VEL_STEP_SIZE = 0.01
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ctrl_leader = False
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send_flag = False
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msg2all = """
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Control Your XTDrone!
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To all drones (press g to control the leader)
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---------------------------
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1 2 3 4 5 6 7 8 9 0
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w r t y i
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a s d g j k l
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x v b n ,
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w/x : increase/decrease north setpoint
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a/d : increase/decrease east setpoint
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i/, : increase/decrease upward setpoint
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j/l : increase/decrease orientation
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r : return home
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t/y : arm/disarm
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v/n : takeoff/land
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b : offboard
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s : loiter
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k : idle
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0~9 : extendable mission(eg.different formation configuration)
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this will mask the keyboard control
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g : control the leader
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o : send setpoint
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CTRL-C to quit
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"""
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msg2leader = """
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Control Your XTDrone!
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To the leader (press g to control all drones)
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---------------------------
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1 2 3 4 5 6 7 8 9 0
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w r t y i
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a s d g j k l
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x v b n ,
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w/x : increase/decrease north setpoint
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a/d : increase/decrease east setpoint
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i/, : increase/decrease upward setpoint
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j/l : increase/decrease orientation
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r : return home
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t/y : arm/disarm
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v/n : takeoff/land
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b : offboard
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s : loiter
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k : idle
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0~9 : extendable mission(eg.different formation configuration)
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g : control all drones
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o : send setpoint
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CTRL-C to quit
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"""
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def getKey():
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tty.setraw(sys.stdin.fileno())
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rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
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if rlist:
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key = sys.stdin.read(1)
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else:
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key = ''
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termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
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return key
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def print_msg():
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if ctrl_leader:
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print(msg2leader)
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else:
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print(msg2all)
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if __name__=="__main__":
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settings = termios.tcgetattr(sys.stdin)
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plane_num = int(sys.argv[1])
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rospy.init_node('plane_keyboard_multi_control')
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multi_cmd_vel_flu_pub = [None]*plane_num
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multi_cmd_pub = [None]*plane_num
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for i in range(plane_num):
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multi_cmd_vel_flu_pub[i] = rospy.Publisher('/xtdrone/plane_'+str(i)+'/cmd_pose_flu', Pose, queue_size=10)
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multi_cmd_pub[i] = rospy.Publisher('/xtdrone/plane_'+str(i)+'/cmd',String,queue_size=10)
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leader_cmd_vel_pub = rospy.Publisher("/xtdrone/leader/cmd_pose", Pose, queue_size=10)
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leader_cmd_pub = rospy.Publisher("/xtdrone/leader_cmd", String, queue_size=10)
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cmd= String()
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pose = Pose()
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forward = 0.0
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leftward = 0.0
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upward = 0.0
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angular = 0.0
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print_msg()
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while(1):
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key = getKey()
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if key == 'w' :
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forward = forward + LIN_VEL_STEP_SIZE
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print_msg()
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print("currently:\t north %.2f\t east %.2f\t upward %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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elif key == 'x' :
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forward = forward - LIN_VEL_STEP_SIZE
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print_msg()
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print("currently:\t north %.2f\t east %.2f\t upward %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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elif key == 'a' :
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leftward = leftward + LIN_VEL_STEP_SIZE
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print_msg()
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print("currently:\t north %.2f\t east %.2f\t upward %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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elif key == 'd' :
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leftward = leftward - LIN_VEL_STEP_SIZE
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print_msg()
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print("currently:\t north %.2f\t east %.2f\t upward %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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elif key == 'i' :
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upward = upward + LIN_VEL_STEP_SIZE
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print_msg()
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print("currently:\t north %.2f\t east %.2f\t upward %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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elif key == ',' :
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upward = upward - LIN_VEL_STEP_SIZE
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print_msg()
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print("currently:\t north %.2f\t east %.2f\t upward %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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elif key == 'j':
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angular = angular + ANG_VEL_STEP_SIZE
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print_msg()
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print("currently:\t north %.2f\t east %.2f\t upward %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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elif key == 'l':
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angular = angular - ANG_VEL_STEP_SIZE
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print_msg()
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print("currently:\t north %.2f\t east %.2f\t upward %.2f\t angular %.2f " % (forward, leftward, upward, angular))
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elif key == 'r':
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cmd = 'AUTO.RTL'
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print_msg()
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print('Returning home')
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elif key == 't':
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cmd = 'ARM'
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print_msg()
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print('Arming')
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elif key == 'y':
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cmd = 'DISARM'
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print_msg()
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print('Disarming')
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elif key == 'v':
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cmd = 'AUTO.TAKEOFF'
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print_msg()
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print('AUTO.TAKEOFF')
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elif key == 'b':
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cmd = 'OFFBOARD'
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print_msg()
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print('Offboard')
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elif key == 'n':
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cmd = 'AUTO.LAND'
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print_msg()
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print('AUTO.LAND')
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elif key == 'g':
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ctrl_leader = not ctrl_leader
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print_msg()
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elif key == 's':
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cmd = 'loiter'
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print_msg()
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print('loiter')
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elif key == 'k' :
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cmd = 'idle'
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print_msg()
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print('idle')
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elif key == 'o':
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send_flag = True
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print_msg()
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print('send setpoint')
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else:
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for i in range(10):
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if key == str(i):
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cmd = 'mission'+key
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print_msg()
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print(cmd)
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if (key == '\x03'):
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break
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if forward > MAX_LINEAR:
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forward = MAX_LINEAR
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elif forward < -MAX_LINEAR:
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forward = -MAX_LINEAR
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if leftward > MAX_LINEAR:
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leftward = MAX_LINEAR
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elif leftward < -MAX_LINEAR:
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leftward = -MAX_LINEAR
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if upward > MAX_LINEAR:
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upward = MAX_LINEAR
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elif upward < -MAX_LINEAR:
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upward = -MAX_LINEAR
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if angular > MAX_ANG_VEL:
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angular = MAX_ANG_VEL
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elif angular < -MAX_ANG_VEL:
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angular = - MAX_ANG_VEL
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pose.position.x = forward; pose.position.y = leftward; pose.position.z = upward
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pose.orientation.x = 0.0; pose.orientation.y = 0.0; pose.orientation.z = angular
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for i in range(plane_num):
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if ctrl_leader:
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if send_flag:
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leader_cmd_vel_pub.publish(pose)
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leader_cmd_pub.publish(cmd)
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else:
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if send_flag:
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multi_cmd_vel_flu_pub[i].publish(pose)
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multi_cmd_pub[i].publish(cmd)
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cmd = ''
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termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
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