drone_controller.py 文件源码

def __init__(self):
        # Holds the current drone status
        self.status = -1

        # Subscribe to the /ardrone/navdata topic, of message type navdata, and call self.ReceiveNavdata when a message is received
        self.subNavdata = rospy.Subscriber('/ardrone/navdata',Navdata,self.ReceiveNavdata) 

        # Allow the controller to publish to the /ardrone/takeoff, land and reset topics
        self.pubLand    = rospy.Publisher('/ardrone/land',Empty)
        self.pubTakeoff = rospy.Publisher('/ardrone/takeoff',Empty)
        self.pubReset   = rospy.Publisher('/ardrone/reset',Empty)

        # Allow the controller to publish to the /cmd_vel topic and thus control the drone
        self.pubCommand = rospy.Publisher('/cmd_vel',Twist)

        # Setup regular publishing of control packets
        self.command = Twist()
        self.commandTimer = rospy.Timer(rospy.Duration(COMMAND_PERIOD/1000.0),self.SendCommand)

        # Land the drone if we are shutting down
        rospy.on_shutdown(self.SendLand)