offboard_control_simple.py

#!/usr/bin/env python
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# Revision $Id$

## Simple talker demo that published std_msgs/Strings messages
## to the 'chatter' topic

import rospy
from std_msgs.msg import String
from std_msgs.msg import Header
from geometry_msgs.msg import PoseStamped, Quaternion
from math import *
from tf.transformations import quaternion_from_euler

def generate_pose_stamped():
    "Generates a message of garbage"

    pose_msg = PoseStamped()
    pose_msg.header = Header() 
    pose_msg.header.frame_id = "base_footprint"
    pose_msg.header.stamp = rospy.Time.now()

    # Get x y z from 1, 10 and 100th digit of time in seconds
    # So we know we're getting sane values
    chars = str(int(rospy.get_time()))[-3:]
    x, y, z = [int(char) for char in chars]
    pose_msg.pose.position.x = x
    pose_msg.pose.position.y = y
    pose_msg.pose.position.z = z

    # For demo purposes we will lock yaw/heading to north.
    yaw_degrees = 0  # North
    yaw = radians(yaw_degrees)
    quaternion = quaternion_from_euler(0, 0, yaw)
    pose_msg.pose.orientation = Quaternion(*quaternion)

    return pose_msg


def talker():
    pub = rospy.Publisher('/mavros/setpoint_position/local', PoseStamped, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    rate = rospy.Rate(2) # 10hz
    while not rospy.is_shutdown():

        pose_msg = generate_pose_stamped()

        info = ' | '.join(str(pose_msg.pose.position).splitlines())
        rospy.loginfo(info)
        #rospy.loginfo('%s'rospy.get_time()
        pub.publish(pose_msg)

        rate.sleep()

if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException:
        pass