Delete 'src/MoCap_Localization_fake.py'
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#!/usr/bin/env python2.7
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### Cesar Rodriguez Mar 2022
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### Script to simulate mocap readings and see how PX4 behaves
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import rospy, tf
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import rosservice
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import time
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import math
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import random
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from tf.transformations import *
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from oscillation_ctrl.msg import TetheredStatus, LoadAngles
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from geometry_msgs.msg import PoseStamped
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from gazebo_msgs.srv import GetLinkState
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from std_msgs.msg import Bool
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class Main:
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def __init__(self):
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# rate(s)
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pub_rate = 50 # rate for the publisher method, specified in Hz -- 20 Hz
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loc_rate = 60 # rate we want to localize vehicle -- 60 Hz
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self.dt = 1.0/loc_rate
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self.user_fback = True
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rospy.sleep(5) # Sleep for 5 sec. Need to give time to Gazebo to run
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# Variables needed for testing start
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self.tstart = rospy.get_time() # Keep track of the start time
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while self.tstart == 0.0: # Need to make sure get_rostime works
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self.tstart = rospy.get_time()
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# initialize variables
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self.tetherL = 0.0 # Tether length
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self.has_run = False # Boolean to keep track of first run instance
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self.phibuf = 0.0 # Need buffers to determine their rates
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self.thetabuf = 0.0 #
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self.pload = False # Check if payload exists
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# Max dot values to prevent 'blowup'
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self.angledot_max = 2.0
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self.drone_eul = [0.0,0.0,0.0]
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# variables for message gen
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#self.buff_pose1 = PoseStamped()
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self.drone_pose = PoseStamped()
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self.pload_pose = PoseStamped()
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self.load_angles = LoadAngles()
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self.twobody_status = TetheredStatus()
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self.drone_id = 'spiri_with_tether::spiri::base'
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self.pload_id = 'spiri_with_tether::mass::payload'
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# service(s)
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self.service1 = '/gazebo/get_link_state'
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self.service2 = '/gazebo/set_link_properties'
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# need service list to check if models have spawned
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self.service_list = rosservice.get_service_list()
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# wait for service to exist
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while self.service1 not in self.service_list:
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print ("Waiting for models to spawn...")
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self.service_list = rosservice.get_service_list()
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if rospy.get_time() - self.tstart >= 10.0:
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break
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# publisher(s)
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self.twobody_pub = rospy.Publisher('/status/twoBody_status', TetheredStatus, queue_size=1)
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self.loadAng_pub = rospy.Publisher('/status/load_angles', LoadAngles, queue_size=1)
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#self.pub_wd = rospy.Publisher('/status/path_follow', Bool, queue_size=1)
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#self.pub_timer = rospy.Timer(rospy.Duration(1.0/rate), self.link_state)
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#self.path_timer = rospy.Timer(rospy.Duration(40.0/rate), self.path_follow)
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### Since there is no tether, we can publish directly to mavros
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self.visionPose_pub = rospy.Publisher('/mavros/vision_pose/pose', PoseStamped, queue_size=1)
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self.loc_timer = rospy.Timer(rospy.Duration(1.0/loc_rate), self.mocap_localize)
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self.pub_timer = rospy.Timer(rospy.Duration(1.0/pub_rate), self.publisher)
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# subscriber(s)
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def euler_array(self,orientation):
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"""
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Takes in pose msg object and outputs array of euler angs:
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eul[0] = Roll
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eul[1] = Pitch
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eul[2] = Yaw
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"""
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eul = euler_from_quaternion([orientation.x,
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orientation.y,
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orientation.z,
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orientation.w])
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return eul
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def mocap_localize(self,loc_timer):
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"""
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Uses Gazebo to simulate MoCap
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"""
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try:
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# State which service we are querying
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get_P = rospy.ServiceProxy(self.service1,GetLinkState)
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# Set reference frame
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reference = '' # world ref frame
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# Establish links needed --> Spiri base and payload
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# P = Position vector
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drone_P = get_P(self.drone_id,reference)
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# Check if payload is part of simulation
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if not drone_P.success:
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self.drone_id = 'spiri_mocap::base'
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drone_P = get_P(self.drone_id,reference) # i.e. no payload
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self.drone_P = drone_P
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pload_P = get_P(self.pload_id,reference)
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if pload_P.success: self.pload = True
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if not self.has_run:
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if self.pload == True:
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# Get tether length based off initial displacement
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self.tetherL = math.sqrt((drone_P.link_state.pose.position.x -
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pload_P.link_state.pose.position.x)**2 +
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(drone_P.link_state.pose.position.y -
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pload_P.link_state.pose.position.y)**2 +
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(drone_P.link_state.pose.position.z -
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pload_P.link_state.pose.position.z)**2)
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rospy.set_param('status/tether_length',self.tetherL)
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else:
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self.tetherL = 0.0
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self.has_run = True
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# Need to detemine their location to get angle of deflection
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# Drone
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drone_Px = drone_P.link_state.pose.position.x
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drone_Py = drone_P.link_state.pose.position.y
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# Get drone orientation
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if self.pload == True: # If there is payload, determine the variables
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self.twobody_status.pload = True
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# Pload
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pload_Px = pload_P.link_state.pose.position.x
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pload_Py = pload_P.link_state.pose.position.y
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# Determine theta (pitch)
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x_sep = pload_Px - drone_Px
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if math.fabs(x_sep) >= self.tetherL or x_sep == 0:
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self.load_angles.theta = 0
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else:
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self.load_angles.theta = math.asin(x_sep/self.tetherL)
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# Determine thetadot
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# self.load_angles.thetadot = min(self.angledot_max,max((self.load_angles.theta - self.thetabuf)/self.dt,-self.angledot_max))
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self.load_angles.thetadot = (self.load_angles.theta - self.thetabuf)/self.dt
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self.thetabuf = self.load_angles.theta
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# Determine phi (roll)
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y_sep = pload_Py - drone_Py
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if math.fabs(y_sep) >= self.tetherL or y_sep == 0:
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self.load_angles.phi = 0
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else:
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self.load_angles.phi = -math.asin(y_sep/self.tetherL)
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# Determine phidot
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# self.load_angles.phidot = min(self.angledot_max,max((self.load_angles.phi - self.phibuf)/self.dt,-self.angledot_max))
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self.load_angles.phidot = (self.load_angles.phi - self.phibuf)/self.dt
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self.phibuf = self.load_angles.phi # Update buffer
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# save pload position
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self.twobody_status.pload_pos = pload_P.link_state.pose
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self.pload_pose.pose = self.twobody_status.pload_pos
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else: # Otherwise, vars = 0
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x_sep = self.load_angles.phi = self.load_angles.phidot = self.load_angles.theta = self.load_angles.thetadot = 0
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# Populate message
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#self.status.drone_pos = drone_P.link_state.pose
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self.drone_pose.pose = drone_P.link_state.pose
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self.twobody_status.drone_pos = drone_P.link_state.pose
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except rospy.ServiceException as e:
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rospy.loginfo("Get Link State call failed: {0}".format(e))
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def add_noise(self):
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# self.drone_pose.pose.position.x = self.drone_pose.pose.position.x
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# self.drone_pose.pose.position.y = self.drone_pose.pose.position.y
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# self.drone_pose.pose.position.z = self.drone_pose.pose.position.z
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self.drone_pose.pose.orientation.x = self.drone_pose.pose.orientation.x + random.uniform(0,0.004)
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self.drone_pose.pose.orientation.y = self.drone_pose.pose.orientation.y + random.uniform(0,0.004)
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self.drone_pose.pose.orientation.z = self.drone_pose.pose.orientation.z + random.uniform(0,0.004)
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self.drone_pose.pose.orientation.w = self.drone_pose.pose.orientation.w + random.uniform(0,0.004)
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def publisher(self,pub_timer):
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# add noise to signal
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self.add_noise()
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# fill out necesssary fields
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self.drone_pose.header.frame_id = "/map"
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self.drone_pose.header.stamp = rospy.Time.now()
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self.load_angles.header.stamp = rospy.Time.now()
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# publish
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self.visionPose_pub.publish(self.drone_pose) # publish pose to mavros
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self.loadAng_pub.publish(self.load_angles) # publish load angles to controller
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self.twobody_pub.publish(self.twobody_status) # actual pose. Redundant but nice to have
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# get euler array for user feedback
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self.drone_eul = self.euler_array(self.drone_pose.pose.orientation)
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self.user_feedback()
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def user_feedback(self):
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if self.user_fback:
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print ("\n")
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rospy.loginfo("")
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print ("drone pos.x: " + str(round(self.drone_pose.pose.position.x,2)))
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print ("drone pos.y: " + str(round(self.drone_pose.pose.position.y,2)))
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print ("drone pos.z: " + str(round(self.drone_pose.pose.position.z,2)))
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print ("Roll: " + str(round(self.drone_eul[0]*180/3.14,2)))
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print ("Pitch: " + str(round(self.drone_eul[1]*180/3.14,2)))
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print ("Yaw: " + str(round(self.drone_eul[2]*180/3.14,2)))
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if self.pload:
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print("Tether length: " + str(round(self.tetherL,2)))
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print("Theta: " + str(round(self.load_angles.theta*180/3.14,2)))
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print("Phi: " + str(round(self.load_angles.phi*180/3.14,2)))
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else:
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rospy.loginfo_once(self.tetherL)
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if __name__=="__main__":
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# Initiate ROS node
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rospy.init_node('MoCap_node',anonymous=False)
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try:
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Main() # create class object
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rospy.spin() # loop until shutdown signal
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except rospy.ROSInterruptException:
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pass
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