Robot Operating System Cookbook

How it works…

Let's do a quick summary of the code to better understand what's going on:

Basically, we have two main files, move_to_waypoint.py and follow_trajectory.py.

The functionality of the move_to_waypoint.py script is to create an action server that is able to convert the waypoints-based trajectory into real movement of the drone. So it handles the actual movement of the drone and publishes the feedback:

class moveAction(object): 

The action server is defined inside a class named moveAction:

def __init__(self, name, real_drone, aruco_mapping): 

The init() function is the constructor of the class. It creates the simple action server, alongside other things that are necessary to move the drone. For instance, it also creates a Publisher ...