Team Updates

Dia 3/3 XYZ Code Team
Dia 3/3 XYZ Code Team
A
Adriana Garcés
Team Stream Item
D
Dann Blake
Desarrollo del APK para el uso del Drone
Desarrollo del APK para el uso del Drone
D
Dann Blake
# Authors:
# * XYZ Code Spaceappchallengepty
#
importsys
fromstd_msgs.msgimportString
fromstd_msgs.msgimportEmpty
fromsensor_msgs.msgimportCompressedImage
fromgeometry_msgs.msgimportTwist
importrospy
fromar_drone_wrapper.msgimportNavdata
fromimutilsimportpaths
importnumpyasnp
importimutils
importcv2
fromlibardroneimportardrone
frommultiprocessingimportProcess
importtime
drone=None
pub_nav_data=rospy.Publisher("/ardrone/navdata", Navdata, queue_size=1)
front_image_pub=rospy.Publisher("/ardrone/front_camera/raw_image_compressed", CompressedImage, queue_size=10)
defimages(drone):
rospy.loginfo("Image info thread")
ifdrone:
drone.set_camera_view(True)
msg=CompressedImage()
msg.header.stamp=rospy.Time.now()
msg.format="jpeg"
compressed_images=cv2.imencode('.jpg', drone.get_image())
msg.data=np.array(compressed_images[1]).tostring()
front_image_pub.publish(msg)
datos=dict()
datos=nav_data(drone)
print(datos[0])
else:
rospy.loginfo("No inicio")
defnav_data(drone):
ifdrone:
nav_data_drone=drone.get_navdata()
data=nav_data_drone
else:
rospy.loginfo("No data to publish")
return (data)
defcmd_vel(move_data):
globaldrone
ifmove_data.linear.x==-1:
drone.move_right()
elifmove_data.linear.y==1:
drone.move_forward()
elifmove_data.linear.z==1:
drone.move_up()
elifmove_data.linear.x==1:
drone.move_left()
elifmove_data.linear.y==-1:
drone.move_backward()
elifmove_data.linear.z==-1:
drone.move_down()
elifmove_data.angular.x==-1:
drone.turn_right()
elifmove_data.angular.x==1:
drone.turn_left()
#nuevo agregado
elifmove_data.angular.y==2:
drone.takeoff()
elifmove_data.angular.y==-2:
drone.land()
elifmove_data.angular.z==2:
drone.reset()
elifmove_data.angular.z==-2:
drone.hover()
images(drone)
deftakeoff(_data):
globaldrone
drone.takeoff()
drone.hover()
defland(_data):
globaldrone
drone.land()
defreset(_data):
globaldrone
drone.reset()
defmain(args):
globaldrone
rospy.init_node('control_driver', anonymous=True)
rospy.loginfo("Starting drone connection")
drone=ardrone.ARDrone(True)
rospy.loginfo("Connection Success!!")
drone.reset()
cmd_vel_sub=rospy.Subscriber("/ardrone/cmd_vel", Twist, cmd_vel, queue_size=1)
takeoff_sub=rospy.Subscriber("/ardrone/takeoff", Empty, takeoff, queue_size=1)
land_sub=rospy.Subscriber("/ardrone/land", Empty, land, queue_size=1)
reset_sub=rospy.Subscriber("/ardrone/reset", Empty, reset, queue_size=1)
try:
rospy.spin()
exceptKeyboardInterrupt:
drone.halt()
nav_data_thread.terminate()
print"Shutting down ROS ARDRONE DRIVER module"
if__name__=='__main__':
main(sys.argv)
A
Adriana Garcés
Dia 2/3 equipo XYZ Code
Dia 2/3 equipo XYZ Code
A
Adriana Garcés
XYZ Code Dia 1/3
XYZ Code Dia 1/3
A
Adriana Garcés
Dia 1/3 equipo XYZ Code
Dia 1/3 equipo XYZ Code
A
Adriana Garcés