Question

我正在ubuntu上构建AR无人机SDK。导航工作正常，但为什么不能用键盘控制我的无人机。例如起飞和降落。

感谢。

Answer 1

请提供有关您问题的更多信息，例如您尝试使用的代码和您遇到的错误。

如果您使用ROS和ardrone_autonomy发送起飞或降落消息，则可以使用类似的方法。

起飞：

$rostopic pub --once ardrone/takeoff std_msgs/Empty

土地：

$rostopic pub --once /land std_msgs/Empty

您可以在此处找到更多信息： http://ardrone-autonomy.readthedocs.io/en/latest/commands.html

要使用键盘来控制无人机，您需要一个Python脚本来捕获按键并将适当的消息发送给您的无人机，这是我所使用的。

#!/usr/bin/env python

from __future__ import print_function

import roslib; roslib.load_manifest('teleop_twist_keyboard')
import rospy

from geometry_msgs.msg import Twist
from std_msgs.msg import Empty

import sys, select, termios, tty

msg = """
Reading from the keyboard  and Publishing to Twist!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

For Holonomic mode (strafing), hold down the shift key:
---------------------------
   U    I    O
   J    K    L
   M    <    >

t : up (+z)
b : down (-z)

anything else : stop

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%

CTRL-C to quit
"""

moveBindings = {
        'i':(1,0,0,0),
        'o':(1,0,0,-1),
        'j':(0,0,0,1),
        'l':(0,0,0,-1),
        'u':(1,0,0,1),
        ',':(-1,0,0,0),
        '.':(-1,0,0,1),
        'm':(-1,0,0,-1),
        'O':(1,-1,0,0),
        'I':(1,0,0,0),
        'J':(0,1,0,0),
        'L':(0,-1,0,0),
        'U':(1,1,0,0),
        '<':(-1,0,0,0),
        '>':(-1,-1,0,0),
        'M':(-1,1,0,0),
        't':(0,0,1,0),
        'b':(0,0,-1,0),
           }

speedBindings={
        'q':(1.1,1.1),
        'z':(.9,.9),
        'w':(1.1,1),
        'x':(.9,1),
        'e':(1,1.1),
        'c':(1,.9),
          }

def getKey():
    tty.setraw(sys.stdin.fileno())
    select.select([sys.stdin], [], [], 0)
    key = sys.stdin.read(1)
    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
    return key


def vels(speed,turn):
    return "currently:\tspeed %s\tturn %s " % (speed,turn)

if __name__=="__main__":
        settings = termios.tcgetattr(sys.stdin)

    pub = rospy.Publisher('ardrone/cmd_vel', Twist, queue_size = 1)
    pub2 = rospy.Publisher('ardrone/takeoff', Empty, queue_size = 1)
    pub3 = rospy.Publisher('ardrone/land', Empty, queue_size = 1)
    empty_msg = Empty()
    rospy.init_node('teleop_twist_keyboard')

    speed = rospy.get_param("~speed", 0.5)
    turn = rospy.get_param("~turn", 1.0)
    x = 0
    y = 0
    z = 0
    th = 0
    status = 0

    try:
        print(msg)
        print(vels(speed,turn))
        while(1):
            key = getKey()
            print ('key:')
            print (key)
            if key in moveBindings.keys():
                x = moveBindings[key][0]
                y = moveBindings[key][1]
                z = moveBindings[key][2]
                th = moveBindings[key][3]
            elif key in speedBindings.keys():
                speed = speed * speedBindings[key][0]
                turn = turn * speedBindings[key][1]

                print(vels(speed,turn))
                if (status == 14):
                    print(msg)
                status = (status + 1) % 15
            elif key == '1':
                print ('pressed key 1')
                pub2.publish(empty_msg)
            elif key == '2':
                print ('pressed key 2')
                pub3.publish(empty_msg)
            else:
                x = 0
                y = 0
                z = 0
                th = 0
                if (key == '\x03'):
                    break

            twist = Twist()
            twist.linear.x = x*speed; twist.linear.y = y*speed; twist.linear.z = z*speed;
            twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = th*turn
            pub.publish(twist)

    except Exception as e:
        print(e)

    finally:
        twist = Twist()
        twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
        twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
        pub.publish(twist)

            termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)

我们的1号键要起飞，而2号键要着陆

希望对您有帮助。

AR.Drone SDK 2.0.1键盘不受支持

1 个答案: