单机控制1.0

import rospy
from geometry_msgs.msg import Twist
import sys, select, os
import tty, termios
from std_msgs.msg import String

MAX_LINEAR = 20
MAX_ANG_VEL = 3
LINEAR_STEP_SIZE = 0.01
ANG_VEL_STEP_SIZE = 0.01

cmd_vel_mask = False
ctrl_leader = False

msg = """
Control Your XTDrone!
Control iris 0
---------------------------
   1   2   3   4   5   6   7   8   9   0
        w       r    t   y        i
   a    s    d       g       j    k    l
        x       v    b   n        ,

w/x : increase/decrease forward  
a/d : increase/decrease leftward 
i/, : increase/decrease upward 
j/l : increase/decrease yaw
r   : return home
t/y : arm/disarm
v/n : takeoff/land
b   : offboard
s/k : hover
CTRL-C to quit
"""

e = """
Communications Failed<