check_waypoint_reached() causes the drone to land

[joaopsousa99]

Hello,

First of all, I'm sorry if this is not the appropriate way to report an issue, I'm new to the Github and its community.

I am running a simple ROS Noetic node which prompts the drone to takeoff and publish a Boolean message which indicates if it has finished taking off.

#! /usr/bin/python3
import rospy
from iq_gnc.py_gnc_functions import *
from iq_gnc.PrintColours import *
from std_msgs.msg import Bool

def takeoff():
    nh = rospy.Publisher("takeoff", Bool, queue_size=10)
    rospy.init_node("takeoff", anonymous=True)
    rate = rospy.Rate(3) # 3Hz

    drone = gnc_api()
    drone.wait4connect()
    drone.set_mode("GUIDED")
    drone.wait4start()
    drone.initialize_local_frame()
    drone.takeoff(3)

    takeoff_complete = Bool()

    while not rospy.is_shutdown():
        takeoff_complete.data = drone.check_waypoint_reached()
        nh.publish(takeoff_complete)
        rate.sleep()

if __name__ == '__main__':
    try:
        takeoff()
    except rospy.ROSInterruptException:
        pass

At first, I didn't know what was causing the drone to land so I commented out some sections and uncommented them line by line to find the issue and it turns out it's takeoff_complete.data = drone.check_waypoint_reached(). Is this intended behaviour? How can I work around this while still checking if the drone has finished landing?

[Sahas-Ananth]

Hey sorry for the late reply. I haven't been active in the community cause of finals and life. But if you still need help. here it goes:

So, if my understanding is correct you want to say publish to a topic if takeoff is successful or not right? for that you can just do:

takeoff_complete = bool(drone.takeoff(3))
while not rospy.is_shutdown():
    nh.publish(takeoff_complete)
    rate.sleep()

This will work as drone.takeoff(3) returns 0 if successful else -1