ROS无人机任务

#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
import time
from sensor_msgs.msg import Image
import numpy as np
from math import *
from geometry_msgs.msg import Twist
from geometry_msgs.msg import Pose
from std_msgs.msg import String

#假如提示没有opencv可以安装OpenCVsudo apt-get install ros-kinetic-vision-opencv libopencv-dev python-opencv

#调试过程中可以通过终端输入rqt_image_view进行订阅无人机输出图像

class follow_object:
    def __init__(self):    
        #订阅位姿信息

---

        multirotor_type = 'iris'
        multirotor_num = 1
        control_type = 'vel'
        cmd= String()
        twist = Twist()
        drone_state = "idle"

        shapePose = Pose()
        shapePose.position.x = 0
        shapePose.position.y = 0
        shapePose.position.z = 0