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Tools/ros2/ardupilot_dds_tests/ardupilot_dds_tests/copter_takeoff.py
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| Original file line number | Diff line number | Diff line change |
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| #!/usr/bin/env python3 | ||
| # Copyright 2023 ArduPilot.org. | ||
| # | ||
| # This program is free software: you can redistribute it and/or modify | ||
| # it under the terms of the GNU General Public License as published by | ||
| # the Free Software Foundation, either version 3 of the License, or | ||
| # (at your option) any later version. | ||
| # | ||
| # This program is distributed in the hope that it will be useful, | ||
| # but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| # GNU General Public License for more details. | ||
| # | ||
| # You should have received a copy of the GNU General Public License | ||
| # along with this program. If not, see <https://www.gnu.org/licenses/>. | ||
|
|
||
| """ | ||
| Run takeoff test on Copter. | ||
| Warning - This is NOT production code; it's a simple demo of capability. | ||
| """ | ||
|
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| import math | ||
| import rclpy | ||
| import time | ||
| import errno | ||
|
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| from rclpy.node import Node | ||
| from builtin_interfaces.msg import Time | ||
| from ardupilot_msgs.msg import GlobalPosition | ||
| from geographic_msgs.msg import GeoPoseStamped | ||
| from geopy import distance | ||
| from geopy import point | ||
| from ardupilot_msgs.srv import ArmMotors | ||
| from ardupilot_msgs.srv import ModeSwitch | ||
| from ardupilot_msgs.srv import Takeoff | ||
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| COPTER_MODE_GUIDED = 4 | ||
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| TAKEOFF_ALT = 10.5 | ||
|
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| class CopterTakeoff(Node): | ||
| """Copter takeoff using guided control.""" | ||
|
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| def __init__(self): | ||
| """Initialise the node.""" | ||
| super().__init__("copter_takeoff") | ||
|
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| self.declare_parameter("arm_topic", "/ap/arm_motors") | ||
| self._arm_topic = self.get_parameter("arm_topic").get_parameter_value().string_value | ||
| self._client_arm = self.create_client(ArmMotors, self._arm_topic) | ||
| while not self._client_arm.wait_for_service(timeout_sec=1.0): | ||
| self.get_logger().info('arm service not available, waiting again...') | ||
|
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| self.declare_parameter("mode_topic", "/ap/mode_switch") | ||
| self._mode_topic = self.get_parameter("mode_topic").get_parameter_value().string_value | ||
| self._client_mode_switch = self.create_client(ModeSwitch, self._mode_topic) | ||
| while not self._client_mode_switch.wait_for_service(timeout_sec=1.0): | ||
| self.get_logger().info('mode switch service not available, waiting again...') | ||
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| self.declare_parameter("takeoff_service", "/ap/takeoff") | ||
| self._takeoff_topic = self.get_parameter("takeoff_service").get_parameter_value().string_value | ||
| self._client_takeoff = self.create_client(Takeoff, self._takeoff_topic) | ||
| while not self._client_takeoff.wait_for_service(timeout_sec=1.0): | ||
| self.get_logger().info('takeoff service not available, waiting again...') | ||
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| self.declare_parameter("geopose_topic", "/ap/geopose/filtered") | ||
| self._geopose_topic = self.get_parameter("geopose_topic").get_parameter_value().string_value | ||
| qos = rclpy.qos.QoSProfile( | ||
| reliability=rclpy.qos.ReliabilityPolicy.BEST_EFFORT, durability=rclpy.qos.DurabilityPolicy.VOLATILE, depth=1 | ||
| ) | ||
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| self._subscription_geopose = self.create_subscription(GeoPoseStamped, self._geopose_topic, self.geopose_cb, qos) | ||
| self._cur_geopose = GeoPoseStamped() | ||
|
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| def geopose_cb(self, msg: GeoPoseStamped): | ||
| """Process a GeoPose message.""" | ||
| stamp = msg.header.stamp | ||
| if stamp.sec: | ||
| self.get_logger().info("From AP : Geopose [sec:{}, nsec: {}]".format(stamp.sec, stamp.nanosec)) | ||
|
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| # Store current state | ||
| self._cur_geopose = msg | ||
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| def arm(self): | ||
| req = ArmMotors.Request() | ||
| req.arm = True | ||
| future = self._client_arm.call_async(req) | ||
| rclpy.spin_until_future_complete(self, future) | ||
| return future.result() | ||
|
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| def arm_with_timeout(self, timeout: rclpy.duration.Duration): | ||
| """Try to arm. Returns true on success, or false if arming fails or times out.""" | ||
| armed = False | ||
| start = self.get_clock().now() | ||
| while not armed and self.get_clock().now() - start < timeout: | ||
| armed = self.arm().result | ||
| time.sleep(1) | ||
| return armed | ||
|
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| def switch_mode(self, mode): | ||
| req = ModeSwitch.Request() | ||
| assert mode in [COPTER_MODE_GUIDED] | ||
| req.mode = mode | ||
| future = self._client_mode_switch.call_async(req) | ||
| rclpy.spin_until_future_complete(self, future) | ||
| return future.result() | ||
|
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| def switch_mode_with_timeout(self, desired_mode: int, timeout: rclpy.duration.Duration): | ||
| """Try to switch mode. Returns true on success, or false if mode switch fails or times out.""" | ||
| is_in_desired_mode = False | ||
| start = self.get_clock().now() | ||
| while not is_in_desired_mode: | ||
| result = self.switch_mode(desired_mode) | ||
| # Handle successful switch or the case that the vehicle is already in expected mode | ||
| is_in_desired_mode = result.status or result.curr_mode == desired_mode | ||
| time.sleep(1) | ||
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| return is_in_desired_mode | ||
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| def takeoff(self, alt): | ||
| req = Takeoff.Request() | ||
| req.alt = alt | ||
| future = self._client_takeoff.call_async(req) | ||
| rclpy.spin_until_future_complete(self, future) | ||
| return future.result() | ||
|
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| def takeoff_with_timeout(self, alt: int, timeout: rclpy.duration.Duration): | ||
| """Try to takeoff. Returns true on success, or false if takeoff fails or times out.""" | ||
| takeoff_success = False | ||
| start = self.get_clock().now() | ||
| while not takeoff_success: | ||
| result = self.takeoff(alt) | ||
| takeoff_success = result.status | ||
| time.sleep(1) | ||
|
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| return takeoff_success | ||
|
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| def get_cur_geopose(self): | ||
| """Return latest geopose.""" | ||
| return self._cur_geopose | ||
|
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| def main(args=None): | ||
| """Node entry point.""" | ||
| rclpy.init(args=args) | ||
| node = CopterTakeoff() | ||
| try: | ||
| if not node.switch_mode_with_timeout(COPTER_MODE_GUIDED, rclpy.duration.Duration(seconds=20)): | ||
| raise RuntimeError("Unable to switch to guided mode") | ||
| # Block till armed, which will wait for EKF3 to initialize | ||
| if not node.arm_with_timeout(rclpy.duration.Duration(seconds=30)): | ||
| raise RuntimeError("Unable to arm") | ||
|
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| # Block till in takeoff | ||
| if not node.takeoff_with_timeout(TAKEOFF_ALT, rclpy.duration.Duration(seconds=20)): | ||
| raise RuntimeError("Unable to takeoff") | ||
|
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| is_ascending_to_takeoff_alt = True | ||
| while is_ascending_to_takeoff_alt: | ||
| rclpy.spin_once(node) | ||
| time.sleep(1.0) | ||
|
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| is_ascending_to_takeoff_alt = node.get_cur_geopose().pose.position.altitude < TAKEOFF_ALT | ||
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| if is_ascending_to_takeoff_alt: | ||
| raise RuntimeError("Failed to reach takeoff altitude") | ||
|
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| except KeyboardInterrupt: | ||
| pass | ||
|
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| # Destroy the node explicitly. | ||
| node.destroy_node() | ||
| rclpy.shutdown() | ||
|
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|
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| if __name__ == "__main__": | ||
| main() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
|
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| # This service requests the vehicle to takeoff | ||
|
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| # alt : Set the takeoff altitude above home or above terrain(in case of rangefinder) | ||
|
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| float32 alt | ||
| --- | ||
| # status : True if the request for mode switch was successful, False otherwise | ||
|
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| bool status |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| // generated from rosidl_adapter/resource/srv.idl.em | ||
| // with input from ardupilot_msgs/srv/Takeoff.srv | ||
| // generated code does not contain a copyright notice | ||
|
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| module ardupilot_msgs { | ||
| module srv { | ||
| struct Takeoff_Request { | ||
| @verbatim (language="comment", text= | ||
| "This service requests the vehicle to takeoff" "\n" | ||
| "float : Set the takeoff altitude [m] above home, or above terrain if rangefinder is healthy") | ||
| float alt; | ||
| }; | ||
| @verbatim (language="comment", text= | ||
| "status : True if the request for takeoff was successful, False otherwise") | ||
| struct Takeoff_Response { | ||
| boolean status; | ||
| }; | ||
| }; | ||
| }; |
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