Commit 2cb6f8ea authored by CactusSoyeux's avatar CactusSoyeux
Browse files

centralisation

parent 79d1dd14
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......@@ -23,8 +23,8 @@
<param name="anafi_ip" value="$( arg anafi_ip )"/>
</node>
<!-- Boustrophedon generator Actionlib server-->
<include file="$(find boustrophedon_server)/launch/boustrophedon_server.launch" />
<!-- Boustrophedon generator Actionlib server
<include file="$(find boustrophedon_server)/launch/boustrophedon_server.launch" />-->
<node type="rviz" name="rviz" pkg="rviz" args="-d $(find anafi_base)/rviz/anafi.rviz"/>
......
......@@ -22,6 +22,7 @@ from olympe.messages.ardrone3.SpeedSettingsState import MaxRotationSpeedChanged
from olympe.enums.ardrone3.Piloting import MoveTo_Orientation_mode
from olympe.messages.gimbal import set_max_speed
from olympe.messages.gimbal import max_speed
from olympe.messages.camera import set_autorecord
from olympe.video.pdraw import Pdraw, PdrawState
# Services types
......@@ -169,6 +170,15 @@ class Anafi:
flush_raw_cb=self.flush_cb
)
#Disable filming
try:
self.drone(olympe.messages.camera.set_autorecord(cam_id=0, state ="inactive")).wait().success()
print('Camera recording disabled')
except :
print('Failed to disable camera')
# ROS Publishers init
self.img_pub = rospy.Publisher('anafi/image', Image, queue_size=15)
self.bat_pub = rospy.Publisher('anafi/battery', Int8, queue_size=15)
......
......@@ -4,10 +4,10 @@
<param name="repeat_boundary" value="false"/>
<param name="outline_clockwise" value="false"/>
<param name="skip_outlines" value="true"/>
<param name="outline_layer_count" value="0.0"/>
<param name="stripe_separation" value="2.0"/>
<param name="outline_layer_count" value="1.0"/>
<param name="stripe_separation" value="1.0"/>
<param name="intermediary_separation" value="0.0"/>
<param name="stripe_angle" value="1.0"/>
<param name="stripe_angle" value="0.0"/>
<param name="enable_stripe_angle_orientation" value="false" />
<param name="travel_along_boundary" value="false" />
<param name="allow_points_outside_boundary" value="true" />
......
cohoma_hmi @ 5aa3e9f2
Subproject commit 5aa3e9f20e6687474abb033618863a6c3c861e23
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