(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.

README.md

@@ -64,6 +64,10 @@ Package 簡述
     構築 mavlink 封包
     處理無線模組的通訊格式 (XBee)
     --同時處理與 Gazebo 的 ardupilot_plugin 溝通的 FDM/JSON 訊息 (移除)--
+3. fc_interfaces
+    自定義的介面檔
+4. fc_network_apps
+    與 fc_network_adapter 銜接做高階功能包裝的應用小程式 利於開發GUI或其他應用
 
 N. logs 是執行時期的記錄檔
 

src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py

@@ -29,7 +29,7 @@ from .utils import acquireSerial, acquirePort
 from .utils.acquirePort import find_available_port
 
 logger = setup_logger(os.path.basename(__file__))
-VERSION_NO = "v0.59"
+VERSION_NO = "v0.60"
 
 class PanelState:
     def __init__(self):

src/fc_network_adapter/fc_network_adapter/mavlinkPublish.py

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

src/fc_network_apps/__init__.py

@@ -1,3 +1,14 @@
-from .changeMode import ChangeModeClient, ChangeModeResult, change_mode
+from .longCommand import CommandLongClient, ChangeModeResult
+from .changeMode import change_mode
+from .arm_disarm import arm_disarm
+from .takeoff import takeoff
+from .land import land
 
-__all__ = ["ChangeModeClient", "ChangeModeResult", "change_mode"]
+__all__ = [
+    "CommandLongClient",
+    "ChangeModeResult",
+    "change_mode",
+    "arm_disarm",
+    "takeoff",
+    "land",
+]

src/fc_network_apps/arm_disarm.py

@@ -0,0 +1,93 @@
+"""Simple wrapper for arm/disarm via fc_network ROS2 service (MAV_CMD_COMPONENT_ARM_DISARM)."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from typing import Optional
+
+import rclpy
+from rclpy.node import Node
+
+from fc_interfaces.srv import MavCommandLong
+
+COMMAND_COMPONENT_ARM_DISARM = 400
+DEFAULT_SERVICE_NAME = "/fc_network/vehicle/send_command_long"
+DEFAULT_TIMEOUT_SEC = 2.0
+
+
+@dataclass
+class ArmDisarmResult:
+    success: bool
+    message: str
+    ack_result: int
+
+
+def arm_disarm(
+    *,
+    target_sysid: int,
+    arm: bool,
+    target_compid: int = 0,
+    confirmation: int = 0,
+    param2: float = 0.0,
+    timeout_sec: float = DEFAULT_TIMEOUT_SEC,
+    service_name: str = DEFAULT_SERVICE_NAME,
+) -> ArmDisarmResult:
+    """One-shot MAV_CMD_COMPONENT_ARM_DISARM (400) wrapper.
+
+    param1: 1.0 to arm, 0.0 to disarm.
+    param2: usually 0. Some stacks use 21196 for force-arm (ArduPilot); pass via param2 if needed.
+    """
+    rclpy.init(args=None)
+    node: Optional[Node] = None
+    try:
+        node = Node("fc_arm_disarm_client_once")
+        client = node.create_client(MavCommandLong, service_name)
+
+        if not client.wait_for_service(timeout_sec=timeout_sec):
+            return ArmDisarmResult(
+                success=False,
+                message=f"Service not available: {service_name}",
+                ack_result=-1,
+            )
+
+        req = MavCommandLong.Request()
+        req.target_sysid = target_sysid
+        req.target_compid = target_compid
+        req.command = COMMAND_COMPONENT_ARM_DISARM
+        req.confirmation = confirmation
+        req.param1 = 1.0 if arm else 0.0
+        req.param2 = float(param2)
+        req.param3 = 0.0
+        req.param4 = 0.0
+        req.param5 = 0.0
+        req.param6 = 0.0
+        req.param7 = 0.0
+        req.timeout_sec = float(timeout_sec)
+
+        future = client.call_async(req)
+        rclpy.spin_until_future_complete(node, future, timeout_sec=timeout_sec + 1.0)
+        if not future.done() or future.result() is None:
+            return ArmDisarmResult(
+                success=False,
+                message="Service call timeout or no response.",
+                ack_result=-1,
+            )
+
+        response = future.result()
+        return ArmDisarmResult(
+            success=response.success,
+            message=response.message,
+            ack_result=response.ack_result,
+        )
+    finally:
+        if node is not None:
+            node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    r = arm_disarm(target_sysid=3, arm=True)
+    print(
+        f"arm_disarm success={r.success}, "
+        f"ack_result={r.ack_result}, message='{r.message}'"
+    )

src/fc_network_apps/changeMode.py

@@ -22,7 +22,6 @@ COMMAND_DO_SET_MODE = 176
 DEFAULT_SERVICE_NAME = "/fc_network/vehicle/send_command_long"
 DEFAULT_TIMEOUT_SEC = 2.0
 
-
 @dataclass
 class ChangeModeResult:
     """Return value for mode change requests."""
@@ -31,27 +30,31 @@ class ChangeModeResult:
     message: str
     ack_result: int
 
+def change_mode(
+    *,
+    target_sysid: int,
+    custom_mode: float,
+    target_compid: int = 0,
+    base_mode: float = 1.0,
+    confirmation: int = 0,
+    timeout_sec: float = DEFAULT_TIMEOUT_SEC,
+    service_name: str = DEFAULT_SERVICE_NAME,
+) -> ChangeModeResult:
 
-class ChangeModeClient(Node):
+    """One-shot helper for collaborators who want minimal code."""
-    """Small ROS2 client dedicated to change flight mode."""
+    rclpy.init(args=None)
-
+    node: Optional[Node] = None
-    def __init__(self, service_name: str = DEFAULT_SERVICE_NAME) -> None:
+    try:
-        super().__init__("fc_change_mode_client")
+        node = Node("fc_change_mode_client_once")
-        self._client = self.create_client(MavCommandLong, service_name)
+        client = node.create_client(MavCommandLong, service_name)
 
-    def wait_for_service(self, timeout_sec: float = 3.0) -> bool:
+        if not client.wait_for_service(timeout_sec=timeout_sec):
-        return self._client.wait_for_service(timeout_sec=timeout_sec)
+            return ChangeModeResult(
+                success=False,
+                message=f"Service not available: {service_name}",
+                ack_result=-1,
+            )
 
-    def change_mode(
-        self,
-        *,
-        target_sysid: int,
-        custom_mode: float,
-        target_compid: int = 0,
-        base_mode: float = 1.0,
-        confirmation: int = 0,
-        timeout_sec: float = DEFAULT_TIMEOUT_SEC,
-    ) -> ChangeModeResult:
         req = MavCommandLong.Request()
         req.target_sysid = target_sysid
         req.target_compid = target_compid
@@ -66,8 +69,8 @@ class ChangeModeClient(Node):
         req.param7 = 0.0
         req.timeout_sec = float(timeout_sec)
 
-        future = self._client.call_async(req)
+        future = client.call_async(req)
-        rclpy.spin_until_future_complete(self, future, timeout_sec=timeout_sec + 1.0)
+        rclpy.spin_until_future_complete(node, future, timeout_sec=timeout_sec + 1.0)
         if not future.done() or future.result() is None:
             return ChangeModeResult(
                 success=False,
@@ -81,37 +84,6 @@ class ChangeModeClient(Node):
             message=response.message,
             ack_result=response.ack_result,
         )
-
-
-def change_mode(
-    *,
-    target_sysid: int,
-    custom_mode: float,
-    target_compid: int = 0,
-    base_mode: float = 1.0,
-    confirmation: int = 0,
-    timeout_sec: float = DEFAULT_TIMEOUT_SEC,
-    service_name: str = DEFAULT_SERVICE_NAME,
-) -> ChangeModeResult:
-    """One-shot helper for collaborators who want minimal code."""
-    rclpy.init(args=None)
-    node: Optional[ChangeModeClient] = None
-    try:
-        node = ChangeModeClient(service_name=service_name)
-        if not node.wait_for_service(timeout_sec=timeout_sec):
-            return ChangeModeResult(
-                success=False,
-                message=f"Service not available: {service_name}",
-                ack_result=-1,
-            )
-        return node.change_mode(
-            target_sysid=target_sysid,
-            target_compid=target_compid,
-            custom_mode=custom_mode,
-            base_mode=base_mode,
-            confirmation=confirmation,
-            timeout_sec=timeout_sec,
-        )
     finally:
         if node is not None:
             node.destroy_node()

src/fc_network_apps/land.py

@@ -0,0 +1,90 @@
+"""Simple wrapper for land via fc_network ROS2 service."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from typing import Optional
+
+import rclpy
+from rclpy.node import Node
+
+from fc_interfaces.srv import MavCommandLong
+
+COMMAND_NAV_LAND = 21
+DEFAULT_SERVICE_NAME = "/fc_network/vehicle/send_command_long"
+DEFAULT_TIMEOUT_SEC = 2.0
+
+
+@dataclass
+class LandResult:
+    success: bool
+    message: str
+    ack_result: int
+
+
+def land(
+    *,
+    target_sysid: int,
+    target_compid: int = 0,
+    yaw_deg: float = 0.0,
+    latitude: Optional[float] = None,
+    longitude: Optional[float] = None,
+    altitude_m: float = 0.0,
+    timeout_sec: float = DEFAULT_TIMEOUT_SEC,
+    service_name: str = DEFAULT_SERVICE_NAME,
+) -> LandResult:
+    """One-shot MAV_CMD_NAV_LAND wrapper."""
+    rclpy.init(args=None)
+    node: Optional[Node] = None
+    try:
+        node = Node("fc_land_client_once")
+        client = node.create_client(MavCommandLong, service_name)
+
+        if not client.wait_for_service(timeout_sec=timeout_sec):
+            return LandResult(
+                success=False,
+                message=f"Service not available: {service_name}",
+                ack_result=-1,
+            )
+
+        req = MavCommandLong.Request()
+        req.target_sysid = target_sysid
+        req.target_compid = target_compid
+        req.command = COMMAND_NAV_LAND
+        req.confirmation = 0
+        req.param1 = 0.0
+        req.param2 = 0.0
+        req.param3 = 0.0
+        req.param4 = float(yaw_deg)
+        req.param5 = float(latitude) if latitude is not None else 0.0
+        req.param6 = float(longitude) if longitude is not None else 0.0
+        req.param7 = float(altitude_m)
+        req.timeout_sec = float(timeout_sec)
+
+        future = client.call_async(req)
+        rclpy.spin_until_future_complete(node, future, timeout_sec=timeout_sec + 1.0)
+        if not future.done() or future.result() is None:
+            return LandResult(
+                success=False,
+                message="Service call timeout or no response.",
+                ack_result=-1,
+            )
+
+        response = future.result()
+        return LandResult(
+            success=response.success,
+            message=response.message,
+            ack_result=response.ack_result,
+        )
+    finally:
+        if node is not None:
+            node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    result = land(target_sysid=3)
+    print(
+        f"land success={result.success}, "
+        f"ack_result={result.ack_result}, message='{result.message}'"
+    )

src/fc_network_apps/longCommand.py

@@ -0,0 +1,75 @@
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from typing import Optional
+
+import rclpy
+from rclpy.node import Node
+
+from fc_interfaces.srv import MavCommandLong
+
+COMMAND_DO_SET_MODE = 176
+DEFAULT_SERVICE_NAME = "/fc_network/vehicle/send_command_long"
+DEFAULT_TIMEOUT_SEC = 2.0
+
+
+@dataclass
+class ChangeModeResult:
+    """Return value for mode change requests."""
+
+    success: bool
+    message: str
+    ack_result: int
+
+
+class CommandLongClient(Node):
+    """Small ROS2 client dedicated to change flight mode."""
+
+    def __init__(self, service_name: str = DEFAULT_SERVICE_NAME) -> None:
+        rclpy.init()
+        super().__init__("fc_change_mode_client")
+        self._client = self.create_client(MavCommandLong, service_name)
+
+    def wait_for_service(self, timeout_sec: float = 3.0) -> bool:
+        return self._client.wait_for_service(timeout_sec=timeout_sec)
+
+    def change_mode(
+        self,
+        *,
+        target_sysid: int,
+        custom_mode: float,
+        target_compid: int = 0,
+        base_mode: float = 1.0,
+        confirmation: int = 0,
+        timeout_sec: float = DEFAULT_TIMEOUT_SEC ) -> ChangeModeResult:
+
+        req = MavCommandLong.Request()
+        req.target_sysid = target_sysid
+        req.target_compid = target_compid
+        req.command = COMMAND_DO_SET_MODE
+        req.confirmation = confirmation
+        req.param1 = float(base_mode)
+        req.param2 = float(custom_mode)
+        req.param3 = 0.0
+        req.param4 = 0.0
+        req.param5 = 0.0
+        req.param6 = 0.0
+        req.param7 = 0.0
+        req.timeout_sec = float(timeout_sec)
+
+        future = self._client.call_async(req)
+        rclpy.spin_until_future_complete(self, future, timeout_sec=timeout_sec + 1.0)
+        if not future.done() or future.result() is None:
+            return ChangeModeResult(
+                success=False,
+                message="Service call timeout or no response.",
+                ack_result=-1,
+            )
+
+        response = future.result()
+        return ChangeModeResult(
+            success=response.success,
+            message=response.message,
+            ack_result=response.ack_result,
+        )

src/fc_network_apps/takeoff.py

@@ -0,0 +1,91 @@
+"""Simple wrapper for takeoff via fc_network ROS2 service."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from typing import Optional
+
+import rclpy
+from rclpy.node import Node
+
+from fc_interfaces.srv import MavCommandLong
+
+COMMAND_NAV_TAKEOFF = 22
+DEFAULT_SERVICE_NAME = "/fc_network/vehicle/send_command_long"
+DEFAULT_TIMEOUT_SEC = 2.0
+
+
+@dataclass
+class TakeoffResult:
+    success: bool
+    message: str
+    ack_result: int
+
+
+def takeoff(
+    *,
+    target_sysid: int,
+    altitude_m: float,
+    target_compid: int = 0,
+    min_pitch_deg: float = 0.0,
+    yaw_deg: float = 0.0,
+    latitude: Optional[float] = None,
+    longitude: Optional[float] = None,
+    timeout_sec: float = DEFAULT_TIMEOUT_SEC,
+    service_name: str = DEFAULT_SERVICE_NAME,
+) -> TakeoffResult:
+    """One-shot MAV_CMD_NAV_TAKEOFF wrapper."""
+    rclpy.init(args=None)
+    node: Optional[Node] = None
+    try:
+        node = Node("fc_takeoff_client_once")
+        client = node.create_client(MavCommandLong, service_name)
+
+        if not client.wait_for_service(timeout_sec=timeout_sec):
+            return TakeoffResult(
+                success=False,
+                message=f"Service not available: {service_name}",
+                ack_result=-1,
+            )
+
+        req = MavCommandLong.Request()
+        req.target_sysid = target_sysid
+        req.target_compid = target_compid
+        req.command = COMMAND_NAV_TAKEOFF
+        req.confirmation = 0
+        req.param1 = float(min_pitch_deg)
+        req.param2 = 0.0
+        req.param3 = 0.0
+        req.param4 = float(yaw_deg)
+        req.param5 = float(latitude) if latitude is not None else 0.0
+        req.param6 = float(longitude) if longitude is not None else 0.0
+        req.param7 = float(altitude_m)
+        req.timeout_sec = float(timeout_sec)
+
+        future = client.call_async(req)
+        rclpy.spin_until_future_complete(node, future, timeout_sec=timeout_sec + 1.0)
+        if not future.done() or future.result() is None:
+            return TakeoffResult(
+                success=False,
+                message="Service call timeout or no response.",
+                ack_result=-1,
+            )
+
+        response = future.result()
+        return TakeoffResult(
+            success=response.success,
+            message=response.message,
+            ack_result=response.ack_result,
+        )
+    finally:
+        if node is not None:
+            node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    result = takeoff(target_sysid=3, altitude_m=10.0)
+    print(
+        f"takeoff success={result.success}, "
+        f"ack_result={result.ack_result}, message='{result.message}'"
+    )

src/someotherpkg/src/example2_change_mode.py

@@ -0,0 +1,55 @@
+
+
+from fc_network_apps import CommandLongClient
+import time
+
+def main():
+    # Equivalent to:
+    # ros2 service call /fc_network/vehicle/send_command_long ... param1:1 param2:4
+    commandAPI = CommandLongClient()
+    result = commandAPI.change_mode(
+        target_sysid=3,
+        target_compid=0,
+        base_mode=1.0,
+        custom_mode=4.0,
+        timeout_sec=2.0,
+    )
+
+    print("=== change mode result ===")
+    print(f"success   : {result.success}")
+    print(f"ack_result: {result.ack_result}")
+    print(f"message   : {result.message}")
+
+    time.sleep(1)
+
+    result = commandAPI.change_mode(
+        target_sysid=3,
+        target_compid=0,
+        base_mode=1.0,
+        custom_mode=3.0,
+        timeout_sec=2.0,
+    )
+
+    print("=== change mode result ===")
+    print(f"success   : {result.success}")
+    print(f"ack_result: {result.ack_result}")
+    print(f"message   : {result.message}")
+
+    time.sleep(1)
+    
+    result = commandAPI.change_mode(
+        target_sysid=3,
+        target_compid=0,
+        base_mode=1.0,
+        custom_mode=5.0,
+        timeout_sec=2.0,
+    )
+
+    print("=== change mode result ===")
+    print(f"success   : {result.success}")
+    print(f"ack_result: {result.ack_result}")
+    print(f"message   : {result.message}")
+
+
+if __name__ == "__main__":
+    main()

src/someotherpkg/src/example_arm_disarm.py

@@ -0,0 +1,30 @@
+"""Usage example for arm/disarm helper.
+
+Run from repo root with module mode:
+    python -m someotherpkg.src.example_arm_disarm
+"""
+
+from fc_network_apps import arm_disarm
+
+
+def main() -> None:
+    # MAV_CMD_COMPONENT_ARM_DISARM (command=400)
+    # param1: 1 = arm, 0 = disarm
+    result = arm_disarm(
+        target_sysid=3,
+        target_compid=0,
+        arm=True,
+        timeout_sec=2.0,
+    )
+
+    print("=== arm result ===")
+    print(f"success   : {result.success}")
+    print(f"ack_result: {result.ack_result}")
+    print(f"message   : {result.message}")
+
+    # To disarm instead:
+    # result = arm_disarm(target_sysid=3, target_compid=0, arm=False, timeout_sec=2.0)
+
+
+if __name__ == "__main__":
+    main()

src/someotherpkg/src/example_land.py

@@ -0,0 +1,27 @@
+"""Usage example for land helper.
+
+Run from repo root with module mode:
+    python -m someotherpkg.src.example_land
+"""
+
+from fc_network_apps import land
+
+
+def main() -> None:
+    # MAV_CMD_NAV_LAND (command=21)
+    # This example asks vehicle sysid=3 to land.
+    result = land(
+        target_sysid=3,
+        target_compid=0,
+        yaw_deg=0.0,
+        timeout_sec=2.0,
+    )
+
+    print("=== land result ===")
+    print(f"success   : {result.success}")
+    print(f"ack_result: {result.ack_result}")
+    print(f"message   : {result.message}")
+
+
+if __name__ == "__main__":
+    main()

src/someotherpkg/src/example_takeoff.py

@@ -0,0 +1,28 @@
+"""Usage example for takeoff helper.
+
+Run from repo root with module mode:
+    python -m someotherpkg.src.example_takeoff
+"""
+
+from fc_network_apps import takeoff
+
+
+def main() -> None:
+    # MAV_CMD_NAV_TAKEOFF (command=22)
+    # This example asks vehicle sysid=3 to take off to 10 meters.
+    result = takeoff(
+        target_sysid=3,
+        target_compid=0,
+        altitude_m=10.0,
+        yaw_deg=0.0,
+        timeout_sec=2.0,
+    )
+
+    print("=== takeoff result ===")
+    print(f"success   : {result.success}")
+    print(f"ack_result: {result.ack_result}")
+    print(f"message   : {result.message}")
+
+
+if __name__ == "__main__":
+    main()

src/unitdev02/unitdev02/devnote.txt

@@ -24,6 +24,8 @@ python -m fc_network_adapter.tests.test_vehicleStatusPublisher
 python -m fc_network_adapter.tests.test_ringBuffer
 python -m fc_network_adapter.fc_network_adapter.mainOrchestrator
 
+python -m someotherpkg.src.example_change_mode
+
 ros2 topic list
 ros2 topic echo