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トップに関する質問Pythonのモジュール化した際の関数の呼び出しおよび代入がわからない

編集履歴

質問編集履歴

2

コピーを貼り付けました

2020/12/28 10:18

投稿

haruking1128
haruking1128

スコア0

test CHANGED
File without changes
test CHANGED
@@ -48,7 +48,9 @@
48
48
 
49
49
 
50
50
 
51
- a=b=x=lstick_lr=lstick_fb=rstick_lr=rstick_fb=pitch=roll=yaw=thrust=0
51
+ a=b=x=y=lstick_lr=lstick_fb=rstick_lr=rstick_fb=0
52
+
53
+ pitch=roll=yaw=thrust=0
52
54
 
53
55
 
54
56
 
@@ -56,135 +58,135 @@
56
58
 
57
59
  def __init__(self):
58
60
 
59
- self._joy_sub = rospy.Subscriber('joy',Joy,self.joy_callback, queue_size=1)
61
+ self._joy_sub = rospy.Subscriber('joy',Joy,self.joy_callback, queue_size=1)
60
-
62
+
61
- self.pub_takeoff = rospy.Publisher('/ardrone/takeoff', Empty)
63
+ self.pub_takeoff = rospy.Publisher('/ardrone/takeoff', Empty)
62
-
64
+
63
- self.pub_land = rospy.Publisher('/ardrone/land', Empty)
65
+ self.pub_land = rospy.Publisher('/ardrone/land', Empty)
64
-
66
+
65
- self.pub_reset = rospy.Publisher('/ardrone/reset', Empty)
67
+ self.pub_reset = rospy.Publisher('/ardrone/reset', Empty)
66
-
68
+
67
- self.pub_velocity = rospy.Publisher('/cmd_vel', Twist,queue_size=1)
69
+ self.pub_velocity = rospy.Publisher('/cmd_vel', Twist,queue_size=1)
68
-
70
+
69
- self.pub_check = rospy.Publisher('check',Int32 ,queue_size=1) #for_rosbag
71
+ self.pub_check = rospy.Publisher('check',Int32 ,queue_size=1) #for_rosbag
70
-
72
+
71
- self.pub_check_mag = rospy.Publisher('check_mag',Int32 ,queue_size=1)
73
+ self.pub_check_mag = rospy.Publisher('check_mag',Int32 ,queue_size=1)
72
-
73
-
74
-
74
+
75
+
76
+
75
- self.mag_sub = rospy.Subscriber("/ardrone/Navdata", Navdata, self.mag_callback)
77
+ self.mag_sub = rospy.Subscriber("/ardrone/navdata/mag", Navdata, self.mag_callback)
76
-
77
-
78
+
79
+
78
80
 
79
81
  def mag_callback(self, mag_msg):
80
82
 
81
- global mag
83
+ global mag
82
-
84
+
83
- mag = mag_msg.magY
85
+ mag = mag_msg.magY
84
-
85
-
86
86
 
87
87
 
88
88
 
89
89
  def joy_callback(self, joy_msg):
90
90
 
91
- 　　global a,b,x,lstick_lr,lstick_fb,rstick_lr,rstick_fb
91
+ global a,b,x,y,lstick_lr,lstick_fb,rstick_lr,rstick_fb
92
-
92
+
93
- a = float(joy_msg.buttons[1])
93
+ a = float(joy_msg.buttons[1])
94
-
94
+
95
- b = float(joy_msg.buttons[2])
95
+ b = float(joy_msg.buttons[2])
96
-
96
+
97
- x = float(joy_msg.buttons[0])
97
+ x = float(joy_msg.buttons[0])
98
-
98
+
99
- y = float(joy_msg.buttons[3])
99
+ y = float(joy_msg.buttons[3])
100
-
100
+
101
- 　　lb = float(joy_msg.buttons[4])
101
+ lb = float(joy_msg.buttons[4])
102
-
102
+
103
- 　　rb = float(joy_msg.buttons[5])
103
+ rb = float(joy_msg.buttons[5])
104
-
104
+
105
- 　　lt = float(joy_msg.buttons[6])
105
+ lt = float(joy_msg.buttons[6])
106
-
106
+
107
- 　　rt = float(joy_msg.buttons[7])
107
+ rt = float(joy_msg.buttons[7])
108
-
108
+
109
- start = float(joy_msg.buttons[9])
109
+ start = float(joy_msg.buttons[9])
110
-
110
+
111
- select = float(joy_msg.buttons[8])
111
+ select = float(joy_msg.buttons[8])
112
-
112
+
113
- 　　lstick_botton = float(joy_msg.buttons[10])
113
+ lstick_botton = float(joy_msg.buttons[10])
114
-
114
+
115
- 　　rstick_botton = float(joy_msg.buttons[11])
115
+ rstick_botton = float(joy_msg.buttons[11])
116
-
117
-
118
-
116
+
117
+
118
+
119
- lstick_lr = float(joy_msg.axes[0]) #left_and_right//roll
119
+ lstick_lr = float(joy_msg.axes[0]) #left_and_right//roll
120
-
120
+
121
- lstick_fb = float(joy_msg.axes[1]) #front_and_back//pitch
121
+ lstick_fb = float(joy_msg.axes[1]) #front_and_back//pitch
122
-
122
+
123
- rstick_lr = float(joy_msg.axes[2]) #rotation//yaw
123
+ rstick_lr = float(joy_msg.axes[2]) #rotation//yaw
124
-
124
+
125
- rstick_fb = float(joy_msg.axes[3]) #up_and_down//thrust
125
+ rstick_fb = float(joy_msg.axes[3]) #up_and_down//thrust
126
-
126
+
127
- plusbotton_lr = float(joy_msg.axes[4])
127
+ plusbotton_lr = float(joy_msg.axes[4])
128
-
128
+
129
- plusbotton_fb = float(joy_msg.axes[5])
129
+ plusbotton_fb = float(joy_msg.axes[5])
130
130
 
131
131
 
132
132
 
133
133
  def move_controller(self):
134
134
 
135
- 　　global pitch,roll,yaw,thrust
135
+ global roll,pitch,yaw,thrust
136
+
136
-
137
+ roll = lstick_lr
138
+
137
- 　　pitch = lstick_lr
139
+ pitch = lstick_fb
138
-
139
- 　　roll = lstick_fb
140
+
140
-
141
- 　　thrust = rstick_fb
141
+ thrust = rstick_fb
142
-
142
+
143
- 　　yaw = rstick_lr
143
+ yaw = rstick_lr
144
+
145
+ return roll,pitch,yaw,thrust
144
146
 
145
147
 
146
148
 
147
149
  def main(self):
148
150
 
151
+ print(y,Navdata)
152
+
149
- 　　pitch,roll,yaw,thrust = self.move_controller()
153
+ self.move_controller()
150
-
154
+
151
- 　　self.pub_velocity.publish(Twist(Vector3(pitch,roll,thrust),Vector3(0,0,yaw)))
155
+ self.pub_velocity.publish(Twist(Vector3(pitch,roll,thrust),Vector3(0,0,yaw)))
152
-
153
-
154
-
156
+
155
- if a == 1:
157
+ if a == 1:
156
-
158
+
157
- self.pub_takeoff.publish(Empty())
159
+ self.pub_takeoff.publish(Empty())
158
-
160
+
159
- rospy.sleep(5.0)
161
+ rospy.sleep(4.0)
160
-
162
+
161
- self.pub_velocity.publish(Twist(Vector3(0,0,0),Vector3(0,0,0)))
163
+ self.pub_velocity.publish(Twist(Vector3(0,0,0),Vector3(0,0,0)))
162
-
164
+
163
- elif b == 1:
165
+ elif b == 1:
164
-
166
+
165
- self.pub_land.publish(Empty())
167
+ self.pub_land.publish(Empty())
166
-
168
+
167
- self.pub_velocity.publish(Twist(Vector3(0,0,0),Vector3(0,0,0)))
169
+ self.pub_velocity.publish(Twist(Vector3(0,0,0),Vector3(0,0,0)))
168
-
170
+
169
- 　　　 elif x == 1:
171
+ elif x == 1:
170
-
172
+
171
- 　　　　 print(Navdata)
173
+ self.pub_reset.publish(Empty())
174
+
175
+
176
+
177
+ if __name__ == '__main__':
172
178
 
173
179
 
174
180
 
175
-
176
-
177
- if __name__ == '__main__':
178
-
179
-
180
-
181
- rospy.init_node('moving_node', anonymous=True)
181
+ rospy.init_node('moving_node', anonymous=True)
182
-
182
+
183
- s = controll()
183
+ s = controll()
184
-
184
+
185
- s.main()
185
+ s.main()
186
+
186
-
187
+ #controll()
188
+
187
- rospy.spin()
189
+ rospy.spin()
188
190
 
189
191
  ```
190
192
 

1

インデントを修正しました。こちらが自分の編集しているプログラムと同じインデントになっています。

2020/12/28 10:18

投稿

haruking1128
haruking1128

スコア0

test CHANGED
File without changes
test CHANGED
@@ -88,7 +88,7 @@
88
88
 
89
89
  def joy_callback(self, joy_msg):
90
90
 
91
- global a,b,x,lstick_lr,lstick_fb,rstick_lr,rstick_fb
91
+ 　　global a,b,x,lstick_lr,lstick_fb,rstick_lr,rstick_fb
92
92
 
93
93
  a = float(joy_msg.buttons[1])
94
94
 
@@ -98,57 +98,57 @@
98
98
 
99
99
  y = float(joy_msg.buttons[3])
100
100
 
101
- lb = float(joy_msg.buttons[4])
101
+ 　　lb = float(joy_msg.buttons[4])
102
-
102
+
103
- rb = float(joy_msg.buttons[5])
103
+ 　　rb = float(joy_msg.buttons[5])
104
-
104
+
105
- lt = float(joy_msg.buttons[6])
105
+ 　　lt = float(joy_msg.buttons[6])
106
-
106
+
107
- rt = float(joy_msg.buttons[7])
107
+ 　　rt = float(joy_msg.buttons[7])
108
-
108
+
109
- start = float(joy_msg.buttons[9])
109
+ start = float(joy_msg.buttons[9])
110
-
110
+
111
- select = float(joy_msg.buttons[8])
111
+ select = float(joy_msg.buttons[8])
112
-
112
+
113
- lstick_botton = float(joy_msg.buttons[10])
113
+ 　　lstick_botton = float(joy_msg.buttons[10])
114
-
114
+
115
- rstick_botton = float(joy_msg.buttons[11])
115
+ 　　rstick_botton = float(joy_msg.buttons[11])
116
-
117
-
118
-
116
+
117
+
118
+
119
- lstick_lr = float(joy_msg.axes[0]) #left_and_right//roll
119
+ lstick_lr = float(joy_msg.axes[0]) #left_and_right//roll
120
-
120
+
121
- lstick_fb = float(joy_msg.axes[1]) #front_and_back//pitch
121
+ lstick_fb = float(joy_msg.axes[1]) #front_and_back//pitch
122
-
122
+
123
- rstick_lr = float(joy_msg.axes[2]) #rotation//yaw
123
+ rstick_lr = float(joy_msg.axes[2]) #rotation//yaw
124
-
124
+
125
- rstick_fb = float(joy_msg.axes[3]) #up_and_down//thrust
125
+ rstick_fb = float(joy_msg.axes[3]) #up_and_down//thrust
126
-
126
+
127
- plusbotton_lr = float(joy_msg.axes[4])
127
+ plusbotton_lr = float(joy_msg.axes[4])
128
-
128
+
129
- plusbotton_fb = float(joy_msg.axes[5])
129
+ plusbotton_fb = float(joy_msg.axes[5])
130
130
 
131
131
 
132
132
 
133
133
  def move_controller(self):
134
134
 
135
- global pitch,roll,yaw,thrust
135
+ 　　global pitch,roll,yaw,thrust
136
-
136
+
137
- pitch = lstick_lr
137
+ 　　pitch = lstick_lr
138
-
138
+
139
- roll = lstick_fb
139
+ 　　roll = lstick_fb
140
-
140
+
141
- thrust = rstick_fb
141
+ 　　thrust = rstick_fb
142
-
142
+
143
- yaw = rstick_lr
143
+ 　　yaw = rstick_lr
144
144
 
145
145
 
146
146
 
147
147
  def main(self):
148
148
 
149
- pitch,roll,yaw,thrust = self.move_controller()
149
+ 　　pitch,roll,yaw,thrust = self.move_controller()
150
-
150
+
151
- self.pub_velocity.publish(Twist(Vector3(pitch,roll,thrust),Vector3(0,0,yaw)))
151
+ 　　self.pub_velocity.publish(Twist(Vector3(pitch,roll,thrust),Vector3(0,0,yaw)))
152
152
 
153
153
 
154
154
 
@@ -160,15 +160,15 @@
160
160
 
161
161
  self.pub_velocity.publish(Twist(Vector3(0,0,0),Vector3(0,0,0)))
162
162
 
163
- elif b == 1:
163
+ elif b == 1:
164
164
 
165
165
  self.pub_land.publish(Empty())
166
166
 
167
167
  self.pub_velocity.publish(Twist(Vector3(0,0,0),Vector3(0,0,0)))
168
168
 
169
- elif x == 1:
169
+ 　　　 elif x == 1:
170
-
170
+
171
- print(Navdata)
171
+ 　　　　 print(Navdata)
172
172
 
173
173
 
174
174