Update of multi_control.py with commented sections that can be used to arm and...

Update of multi_control.py with commented sections that can be used to arm and take off multiple drones at the same time.

ls2n_drone_command_center/multi_control.py

@@ -5,7 +5,8 @@ from ls2n_interfaces.srv import *
 from rcl_interfaces.msg import ParameterDescriptor, ParameterType
 from rclpy.node import Node
 from rclpy.qos import qos_profile_sensor_data
-
+#from std_msgs.msg import Bool
+#from std_srvs.srv import Empty
 
 qos_profile_sensor_data.depth = 1
 DroneStatusString = [None] * (DroneStatus.LAST + 1)
@@ -54,6 +55,10 @@ class MultiControl(Node):
         self.status_pub = self.create_publisher(
             DroneStatus, "Status", qos_profile_sensor_data
         )
+        #self.create_service(Empty, 'StartExperiment', self.start_experimentation)
+        #self.create_service(Empty, 'StopExperiment', self.stop_experimentation)
+        #self.create_service(Empty, "SpinMotors", self.spin_motors)
+        #self.multi_control_client = self.create_client(DroneRequest, 'Request')
         self.create_service(DroneRequest, "Request", self.handle_request)
         self.keep_alive_sub = self.create_subscription(
             KeepAlive, "KeepAlive", self.keep_alive, qos_profile_sensor_data
@@ -161,6 +166,45 @@ class MultiControl(Node):
 
         return response
 
+    # def spin_motors(self, request, response):
+    #     """
+    #     Callback function of the service spin motors. All drones spin when the service is called.
+    #     :return response: The response of the service.
+    #     """
+    #     self.get_logger().info('Spin motors request made')
+    #     request_out = DroneRequest.Request()
+    #     request_out.request = DroneRequest.Request.SPIN_MOTORS
+    #     self.multi_control_client.call_async(request_out)
+
+    #     return response
+
+    # def start_experimentation(self, request, response):
+    #     """
+    #     Callback function of the service for start experimentation. All drones take-off when the service is called.
+    #     :return: The response of the service.
+    #     """
+    #     self.get_logger().info('Start Experiment request made')
+    #     request_out = DroneRequest.Request()
+    #     request_out.request = DroneRequest.Request.TAKE_OFF
+    #     self.multi_control_client.call_async(request_out)
+
+    #     return response
+
+    # def stop_experimentation(self, request, response):
+    #     """
+    #     Callback function of the service stop experimentation. All drones land when the service is called.
+    #     :return response: The response of the service.
+    #     """
+    #     self.get_logger().info('Stop Experiment request made')
+    #     msg = Bool()
+    #     msg.data = False
+    #     self.active = False
+    #     request_out = DroneRequest.Request()
+    #     request_out.request = DroneRequest.Request.LAND
+    #     self.multi_control_client.call_async(request_out)
+
+    #     return response
+
     def keep_alive(self, keepAlive):
         """
         This function sends keep alive to each drone