刪除「ros2_ws/src/ros2_control_command_arm.py」

test3_vel_gps_bat_head.py

@@ -5,12 +5,10 @@ from mavsdk.telemetry_server import (StatusText,StatusTextType,Battery,Position,
 import random
 async def run():
  
-    # drone = System(port=50053, sysid=96, compid=1)
     drone = System(port=50053)
     print("456")
     
-    # await drone.connect(system_address="udp://127.0.0.1:14550")
-    await drone.connect()
+    await drone.connect(system_address="udp://:14550")
     print("123")
     await drone.telemetry_server.publish_status_text(StatusText(StatusTextType.ALERT,"Check"))
 
@@ -52,16 +50,7 @@ async def run():
         await drone.telemetry_server.publish_battery(Battery(voltage_v,remaining_percent))
         await drone.telemetry_server.publish_position(position,velocity_ned,heading)
         await drone.telemetry_server.publish_raw_gps(raw_gps,gps_info)
-
-        vehicle_battery_temperature = random.uniform(20.0,150.0) # 電池溫度
-        vehicle_battery_current = random.uniform(0.0,15.0) # 電池電流
-        vehicle_battery_CAT = "I" + str(vehicle_battery_current) + "," + "T" + str(vehicle_battery_temperature)
-        print(vehicle_battery_CAT)
-        await drone.telemetry_server.publish_status_text(StatusText(StatusTextType.INFO,vehicle_battery_CAT))
-        await asyncio.sleep(2)
-
-
-
+        await asyncio.sleep(1)
     
         #print("remaining_percent: ",remaining_percent)
 if __name__ == "__main__":