crazyflie.py 文件源码

def __init__(self, id, initialPosition, tf):
        self.id = id
        prefix = "/cf" + str(id)
        self.initialPosition = np.array(initialPosition)
        rospy.wait_for_service(prefix + "/upload_trajectory");
        self.uploadTrajectoryService = rospy.ServiceProxy(prefix + "/upload_trajectory", UploadTrajectory)
        rospy.wait_for_service(prefix + "/set_ellipse");
        self.setEllipseService = rospy.ServiceProxy(prefix + "/set_ellipse", SetEllipse)
        rospy.wait_for_service(prefix + "/takeoff")
        self.takeoffService = rospy.ServiceProxy(prefix + "/takeoff", Takeoff)
        rospy.wait_for_service(prefix + "/land")
        self.landService = rospy.ServiceProxy(prefix + "/land", Land)
        rospy.wait_for_service(prefix + "/hover")
        self.hoverService = rospy.ServiceProxy(prefix + "/hover", Hover)
        rospy.wait_for_service(prefix + "/avoid_target")
        self.avoidTargetService = rospy.ServiceProxy(prefix + "/avoid_target", AvoidTarget)
        rospy.wait_for_service(prefix + "/set_group")
        self.setGroupService = rospy.ServiceProxy(prefix + "/set_group", SetGroup)
        rospy.wait_for_service(prefix + "/update_params")
        self.updateParamsService = rospy.ServiceProxy(prefix + "/update_params", UpdateParams)
        self.tf = tf
        self.prefix = prefix