control.py 文件源码

def _arm(self):
        print(self.namespace, 'arming')
        service_name = '%s/mavros/cmd/arming' % self.namespace
        rospy.wait_for_service(service_name)
        try:
            service = rospy.ServiceProxy(service_name, CommandBool)
            resp = service(True)
        except rospy.ServiceException as e:
            print(self.namespace, 'service call to arm failed:', str(e),
                  file=sys.stderr)
            return False
        if not resp.success:
            print(self.namespace, 'failed to arm', file=sys.stderr)
            return False
        print(self.namespace, 'armed')
        return True