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uavlink with ros work __ publish flyinformation

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Xuan0319
2023-03-24 23:48:35 +08:00
parent d0da02472a
commit 8afdfec98d
3 changed files with 13 additions and 9 deletions
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class_model/src/uavlinkPubMain.py
Regular → Executable
+11 -7
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@@ -1,11 +1,14 @@
#!/usr/bin/env python3
#coding:utf-8
import serial import serial
import time import time
import random import random
import utils
import sys import sys
import os import os
import proto.flight_information_pb2 as flight_information_pb2 import proto.flight_information_pb2 as flight_information_pb2
import logging import logging
from utils.readConfig import Read_PUB_Config
from utils.proto_uavlink_sub_data_from_ros import Proto_msg_from_ros
import rospy import rospy
from std_msgs.msg import String from std_msgs.msg import String
@@ -18,19 +21,20 @@ from sensor_msgs.msg import Range
from geometry_msgs.msg import Vector3 from geometry_msgs.msg import Vector3
def init_dataFormat(cfg:utils.Read_PUB_Config): def init_dataFormat(cfg:Read_PUB_Config):
ros_namespace="/drone1" ros_namespace="/drone1"
f1data = b'\xf1drone550..............\r\n' f1data = b'\xf1drone550..............\r\n'
sel = serial.Serial(cfg.port, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE) sel = serial.Serial(cfg.port, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE)
sel.write(f1data) sel.write(f1data)
utils.Proto_msg_from_ros.sel = sel Proto_msg_from_ros.sel = sel
Proto_msg_from_ros.flight_information_msg = flight_information_pb2.flight_information_message()
rospy.Subscriber(ros_namespace+'/mavros/global_position/global', NavSatFix, utils.Proto_msg_from_ros.callBack_gps) rospy.Subscriber(ros_namespace+'/mavros/global_position/global', NavSatFix, Proto_msg_from_ros.callBack_gps)
rospy.Subscriber(ros_namespace+'/mavros/global_position/compass_hdg', Float64, utils.Proto_msg_from_ros.callBack_compass_hdg) rospy.Subscriber(ros_namespace+'/mavros/global_position/compass_hdg', Float64, Proto_msg_from_ros.callBack_compass_hdg)
if __name__ == '__main__': if __name__ == '__main__':
FilePath = os.path.join(os.path.dirname(__file__),"utils","mqttConfig_PUB.yml") FilePath = os.path.join(os.path.dirname(__file__),"utils","uavlinkConfig_PUB.yml")
cfg = utils.Read_PUB_Config(FilePath) cfg = Read_PUB_Config(FilePath)
# set log # set log
log_format = "%(asctime)s - %(levelname)s - %(message)s" log_format = "%(asctime)s - %(levelname)s - %(message)s"
class_model/src/utils/proto_uavlink_sub_data_from_ros.py
+1 -1
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@@ -23,5 +23,5 @@ class Proto_msg_from_ros:
cls.flight_information_msg.heading = Compass.data cls.flight_information_msg.heading = Compass.data
flightInformationMsg = cls.flight_information_msg.SerializeToString() flightInformationMsg = cls.flight_information_msg.SerializeToString()
cls.sel.write(b'\xf2' + flightInformationMsg + b'\r\n') cls.sel.write(b'\xf2' + flightInformationMsg + b'\r\n')
readTenByte = cls.sel.readline() readTenByte = cls.sel.read_all()
print(readTenByte) print(readTenByte)
class_model/src/utils/uavlinkConfig_PUB.yml
+1 -1
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@@ -2,7 +2,7 @@ UAVLINK:
msg_format: Proto msg_format: Proto
uav_id: \x01\x01 uav_id: \x01\x01
baudrate: 250000 baudrate: 250000
port: /dev/ttyUSB2 port: /dev/ttyUSB0
MQTT: "None" MQTT: "None"
#ROS #ROS
ROS: ROS: