(tested) 1. 增加各種 command long 的功能與使用範例 2. 刪除無用的 mavlinkPublish.py 3.
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@@ -29,7 +29,7 @@ from .utils import acquireSerial, acquirePort
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from .utils.acquirePort import find_available_port
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logger = setup_logger(os.path.basename(__file__))
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VERSION_NO = "v0.59"
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VERSION_NO = "v0.60"
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class PanelState:
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def __init__(self):
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@@ -1,212 +0,0 @@
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'''
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這個檔案只有一個 class
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是作為 mavlinkObject.py 中 mavlink_analyzer 類別的功能衍生
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主要概念是將 "離散的" mavlink 參數轉換成 ROS topic
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包含了創建 publisher 和 以及包裝並丟到 ros2 topic 的 packEmit
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publisher topic name 命名規則為 <前綴詞>/s<sysid>/<具體 topic>
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'''
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import os
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# ROS2 的 import
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import std_msgs.msg
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import sensor_msgs.msg
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import geometry_msgs.msg
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import mavros_msgs.msg
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import math
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# 自定義的 import
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from .utils import setup_logger
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logger = setup_logger(os.path.basename(__file__))
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class mavlink_publisher():
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prefix_path = 'MavLinkBus'
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def create_flightMode(self, sysid, component_obj):
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# target topic name # 請跟這個 method 的名稱保持一致
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target_topic = 'flightMode'
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# 這邊要檢查 flight_mode 是否存在
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try:
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_ = component_obj.emitParams['flightMode_mode']
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except KeyError:
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# 這個 component id 還不存在
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logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
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return False
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# 若存在則 建立 publisher object 並回傳 true
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topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
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publisher_ = self.create_publisher(std_msgs.msg.String, topic_name, 1)
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component_obj.publishers[target_topic] = [publisher_, self.packEmit_flightMode]
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return True
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def packEmit_flightMode(cls, emitParams, publisher):
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msg_str = emitParams['flightMode_mode']
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msg = std_msgs.msg.String()
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msg.data = msg_str
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publisher.publish(msg)
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pass
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# ↓↓↓↓↓↓↓↓↓↓↓↓ 處理不同 ros2 topic 訊息 請放在這裡 ↓↓↓↓↓↓↓↓↓↓↓↓
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def euler_to_quaternion(cls,roll, pitch, yaw):
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qx = math.sin(roll/2) * math.cos(pitch/2) * math.cos(yaw/2) - math.cos(roll/2) * math.sin(pitch/2) * math.sin(yaw/2)
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qy = math.cos(roll/2) * math.sin(pitch/2) * math.cos(yaw/2) + math.sin(roll/2) * math.cos(pitch/2) * math.sin(yaw/2)
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qz = math.cos(roll/2) * math.cos(pitch/2) * math.sin(yaw/2) - math.sin(roll/2) * math.sin(pitch/2) * math.cos(yaw/2)
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qw = math.cos(roll/2) * math.cos(pitch/2) * math.cos(yaw/2) + math.sin(roll/2) * math.sin(pitch/2) * math.sin(yaw/2)
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return [qx, qy, qz, qw]
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def create_attitude(self, sysid, component_obj):
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target_topic = 'attitude'
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try:
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_ = component_obj.emitParams['attitude']
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except KeyError:
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logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
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return False
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topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
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publisher_ = self.create_publisher(sensor_msgs.msg.Imu, topic_name, 1)
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component_obj.publishers[target_topic] = [publisher_, self.packEmit_attitude]
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def packEmit_attitude(self, emitParams, publisher):
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mav_msg = emitParams['attitude']
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msg = sensor_msgs.msg.Imu()
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x, y, z, w = self.euler_to_quaternion(mav_msg.roll, mav_msg.pitch, mav_msg.yaw)
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msg.orientation.x = x
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msg.orientation.y = y
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msg.orientation.z = z
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msg.orientation.w = w
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msg.angular_velocity.x = mav_msg.rollspeed
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msg.angular_velocity.y = mav_msg.pitchspeed
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msg.angular_velocity.z = mav_msg.yawspeed
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publisher.publish(msg)
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pass
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def create_local_position_pose(self, sysid, component_obj):
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target_topic = 'local_position/pose'
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try:
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_ = component_obj.emitParams['local_position']
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except KeyError:
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logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
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return False
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topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
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publisher_ = self.create_publisher(geometry_msgs.msg.Point, topic_name, 1)
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component_obj.publishers[target_topic] = [publisher_, self.packEmit_local_pose]
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def packEmit_local_pose(cls, emitParams, publisher):
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mav_msg = emitParams['local_position']
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msg = geometry_msgs.msg.Point()
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msg.x = mav_msg.x
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msg.y = mav_msg.y
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msg.z = mav_msg.z
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publisher.publish(msg)
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pass
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def create_local_position_velocity(self, sysid, component_obj):
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target_topic = 'local_position/velocity'
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try:
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_ = component_obj.emitParams['local_position']
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except KeyError:
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logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
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return False
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topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
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publisher_ = self.create_publisher(geometry_msgs.msg.Vector3, topic_name, 1)
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component_obj.publishers[target_topic] = [publisher_, self.packEmit_local_vel]
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def packEmit_local_vel(cls, emitParams, publisher):
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mav_msg = emitParams['local_position']
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msg = geometry_msgs.msg.Vector3()
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msg.x = mav_msg.vx
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msg.y = mav_msg.vy
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msg.z = mav_msg.vz
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publisher.publish(msg)
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pass
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def create_global_global(self, sysid, component_obj):
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target_topic = 'global_position/global'
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try:
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_ = component_obj.emitParams['global_position']
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except KeyError:
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logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
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return False
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topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
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publisher_ = self.create_publisher(sensor_msgs.msg.NavSatFix, topic_name, 1)
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component_obj.publishers[target_topic] = [publisher_, self.packEmit_global_global]
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def packEmit_global_global(cls, emitParams, publisher):
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mav_msg = emitParams['global_position']
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msg = sensor_msgs.msg.NavSatFix()
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msg.latitude = mav_msg.lat/1e7
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msg.longitude = mav_msg.lon/1e7
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msg.altitude = mav_msg.alt/1e3
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publisher.publish(msg)
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pass
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def create_global_rel(self, sysid, component_obj):
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target_topic = 'global_position/rel_alt'
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try:
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_ = component_obj.emitParams['global_position']
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except KeyError:
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logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
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return False
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topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
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publisher_ = self.create_publisher(std_msgs.msg.Float64, topic_name, 1)
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component_obj.publishers[target_topic] = [publisher_, self.packEmit_global_rel]
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def packEmit_global_rel(cls, emitParams, publisher):
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mav_msg = emitParams['global_position']
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msg = std_msgs.msg.Float64()
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msg.data = float(mav_msg.relative_alt/1e3)
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publisher.publish(msg)
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pass
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def create_vfr_hud(self, sysid, component_obj):
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target_topic = 'vfr_hud'
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try:
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_ = component_obj.emitParams['vfr_hud']
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except KeyError:
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logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
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return False
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topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
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publisher_ = self.create_publisher(mavros_msgs.msg.VfrHud, topic_name, 1)
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component_obj.publishers[target_topic] = [publisher_, self.packEmit_vfr_hud]
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def packEmit_vfr_hud(cls, emitParams, publisher):
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mav_msg = emitParams['vfr_hud']
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msg = mavros_msgs.msg.VfrHud()
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msg.airspeed = mav_msg.airspeed
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msg.groundspeed = mav_msg.groundspeed
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msg.heading = mav_msg.heading
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msg.throttle = float(mav_msg.throttle)
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msg.altitude = mav_msg.alt
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msg.climb = mav_msg.climb
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publisher.publish(msg)
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pass
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def create_battery(self, sysid, component_obj):
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target_topic = 'battery'
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try:
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_ = component_obj.emitParams['battery']
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except KeyError:
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logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
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return False
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topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
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publisher_ = self.create_publisher(sensor_msgs.msg.BatteryState, topic_name, 1)
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component_obj.publishers[target_topic] = [publisher_, self.packEmit_battery]
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def packEmit_battery(cls, emitParams, publisher):
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mav_msg = emitParams['battery']
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msg = sensor_msgs.msg.BatteryState()
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msg.voltage = mav_msg.voltages[0]/1e3
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publisher.publish(msg)
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pass
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# ↑↑↑↑↑↑↑↑↑↑↑↑ 處理不同 ros2 topic 訊息 請放在這裡 ↑↑↑↑↑↑↑↑↑↑↑↑
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