drone-rigide/scripts/twist_controls.py

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

import rospy
from geometry_msgs.msg import Twist
from std_msgs.msg import Float64

class Twister:

    def __init__(self):
        self.twist = Twist()
        self.twist_pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)
        self.control_linear_z = rospy.Subscriber('control_linear_z', Float64, self.on_linear_z, queue_size=1)
        self.control_angular_z = rospy.Subscriber('control_angular_z', Float64, self.on_angular_z, queue_size=1)
        self.control_linear_x = rospy.Subscriber('control_linear_x', Float64, self.on_linear_x, queue_size=1)
        self.control_linear_y = rospy.Subscriber('control_linear_y', Float64, self.on_linear_y, queue_size=1)

    def on_linear_x(self, value):
        self.twist.linear.x = value.data
        self.twist_pub.publish(self.twist)

    def on_linear_y(self, value):
        self.twist.linear.y = value.data
        self.twist_pub.publish(self.twist)

    def on_linear_z(self, value):
        self.twist.linear.z = value.data
        self.twist_pub.publish(self.twist)

    def on_angular_z(self, value):
        self.twist.angular.z = value.data
        self.twist_pub.publish(self.twist)

if __name__ == '__main__':
    rospy.init_node('twist_controls')
    twister = Twister()
    rospy.spin()