fix: globally available service_proxies

ReadyResearchers-2023-24 · Jan 27, 2024 · 6446fcc · 6446fcc
1 parent 2ea70b1
commit 6446fcc
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Showing 2 changed files with 14 additions and 13 deletions.
diff --git a/src/ddpg_flight.py b/src/ddpg_flight.py
@@ -261,7 +261,7 @@ def episode_reset_and_grab_state():
     # wait until position is reset
     input("input to shut down px4...")
     # disarm the px4
-    service_proxies.arming(False)
+    service_proxies.arming(value=False)
     input("input to reset world...")
     service_proxies.reset_world()
     print("COMPLETE")
@@ -353,7 +353,8 @@ def episode_take_action(action):
     simulation_nodes.launch_gazebo()
     simulation_nodes.launch_clover_services()
     simulation_nodes.launch_clover_model()
-    service_proxies.init()
+
+service_proxies.init()
 
 for ep in range(total_episodes):
 

diff --git a/src/service_proxies.py b/src/service_proxies.py
@@ -17,18 +17,18 @@
 set_rates = None
 set_velocity = None
 
-def init(self):
+def init():
     """Create service proxies"""
     # wait for /gazebo/reset_world to become available
     rospy.wait_for_service('/gazebo/reset_world')
-    arming = rospy.ServiceProxy("/mavros/cmd/arming", CommandBool)
-    reset_world = rospy.ServiceProxy('/gazebo/reset_world', Empty)
+    globals()["arming"] = rospy.ServiceProxy("/mavros/cmd/arming", CommandBool)
+    globals()["reset_world"] = rospy.ServiceProxy('/gazebo/reset_world', Empty)
     # https://github.com/CopterExpress/clover/blob/master/clover/srv/GetTelemetry.srv
-    get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
-    navigate = rospy.ServiceProxy('navigate', srv.Navigate)
-    navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
-    set_position = rospy.ServiceProxy('set_position', srv.SetPosition)
-    set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
-    set_attitude = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
-    set_rates = rospy.ServiceProxy('set_rates', srv.SetRates)
-    land = rospy.ServiceProxy('land', Trigger)
+    globals()["get_telemetry"] = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry)
+    globals()["navigate"] = rospy.ServiceProxy('navigate', srv.Navigate)
+    globals()["navigate_global"] = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)
+    globals()["set_position"] = rospy.ServiceProxy('set_position', srv.SetPosition)
+    globals()["set_velocity"] = rospy.ServiceProxy('set_velocity', srv.SetVelocity)
+    globals()["set_attitude"] = rospy.ServiceProxy('set_attitude', srv.SetAttitude)
+    globals()["set_rates"] = rospy.ServiceProxy('set_rates', srv.SetRates)
+    globals()["land"] = rospy.ServiceProxy('land', Trigger)