parameters: (self)
docstring: ros subscribers
docstring_summary: ros subscribers
docstring_tokens: ros subscribers
function: def __init__(self):
  
          self.imu = None
          self.gps = None
          self.local_pose = None
          self.current_state = None
          self.current_heading = None
          self.takeoff_height = 5
          self.local_enu_position = None
  
          self.cur_target_pose = None
          self.global_target = None
  
          self.received_new_task = False
          self.arm_state = False
          self.offboard_state = False
          self.received_imu = False
          self.frame = "BODY"
  
          self.state = None
  
          '''
          ros subscribers
          '''
          self.local_pose_sub = rospy.Subscriber("/uav1/mavros/local_position/pose", PoseStamped, self.local_pose_callback)
          self.mavros_sub = rospy.Subscriber("/uav1/mavros/state", State, self.mavros_state_callback)
          self.gps_sub = rospy.Subscriber("/uav1/mavros/global_position/global", NavSatFix, self.gps_callback)
          self.imu_sub = rospy.Subscriber("/uav1/mavros/imu/data", Imu, self.imu_callback)
  
          self.set_target_position_sub = rospy.Subscriber("/uav1/gi/set_pose/position", PoseStamped, self.set_target_position_callback)
          self.set_target_yaw_sub = rospy.Subscriber("/uav1/gi/set_pose/orientation", Float32, self.set_target_yaw_callback)
          self.custom_activity_sub = rospy.Subscriber("/uav1/gi/set_activity/type", String, self.custom_activity_callback)
  
  
          '''
          ros publishers
          '''
          self.local_target_pub = rospy.Publisher('/uav1/mavros/setpoint_raw/local', PositionTarget, queue_size=10)
  
          '''
          ros services
          '''
          self.armService = rospy.ServiceProxy('/uav1/mavros/cmd/arming', CommandBool)
          self.flightModeService = rospy.ServiceProxy('/uav1/mavros/set_mode', SetMode)
  
  
          print("Px4 Controller Initialized!")
function_tokens: def __init__ ( self ) : self . imu = None self . gps = None self . local_pose = None self . current_state = None self . current_heading = None self . takeoff_height = 5 self . local_enu_position = None self . cur_target_pose = None self . global_target = None self . received_new_task = False self . arm_state = False self . offboard_state = False self . received_imu = False self . frame = "BODY" self . state = None self . local_pose_sub = rospy . Subscriber ( "/uav1/mavros/local_position/pose" , PoseStamped , self . local_pose_callback ) self . mavros_sub = rospy . Subscriber ( "/uav1/mavros/state" , State , self . mavros_state_callback ) self . gps_sub = rospy . Subscriber ( "/uav1/mavros/global_position/global" , NavSatFix , self . gps_callback ) self . imu_sub = rospy . Subscriber ( "/uav1/mavros/imu/data" , Imu , self . imu_callback ) self . set_target_position_sub = rospy . Subscriber ( "/uav1/gi/set_pose/position" , PoseStamped , self . set_target_position_callback ) self . set_target_yaw_sub = rospy . Subscriber ( "/uav1/gi/set_pose/orientation" , Float32 , self . set_target_yaw_callback ) self . custom_activity_sub = rospy . Subscriber ( "/uav1/gi/set_activity/type" , String , self . custom_activity_callback ) '''
          ros publishers
          ''' self . local_target_pub = rospy . Publisher ( '/uav1/mavros/setpoint_raw/local' , PositionTarget , queue_size = 10 ) '''
          ros services
          ''' self . armService = rospy . ServiceProxy ( '/uav1/mavros/cmd/arming' , CommandBool ) self . flightModeService = rospy . ServiceProxy ( '/uav1/mavros/set_mode' , SetMode ) print ( "Px4 Controller Initialized!" )