Setpoint srv

[TSC21]

Right now is working but there's a strange behaviour: when, for example, I issue the command rosrun mavros mavsetp local -vel 1 0 0, having the mavros_node running, I get Mavros not started, nobody subcsribes to /mavros/setpoint/local/vel/set.
But if I do rostopic echo /mavros/setpoint/local/vel/set, it doesn't reply with the above. Any explanation for this based on the code I wrote?
Thanks!

[TSC21]

Ok I've checked that the same happens with the mavsafety safetyarea command. It actually subscribes, 'cause I can see the info being showed on the mavros_node terminal, but in the terminal where I have launched the command it issues Mavros not started, nobody subcsribes to /mavros/safety_area/set.
So it seems that the topic is subscribed for a short time so it can get the info and then it unsubscribes the topic, where the node launched from the srv automatically responds that there is no subscription.

Update: solved by adding the printf_if inside the delay routine:

# stick around long enough for others to grab
    timeout_t = rospy.get_time() + _ONCE_DELAY
    while not rospy.is_shutdown() and rospy.get_time() < timeout_t:
        rospy.sleep(0.2)
        print_if(pub.get_num_connections() < 1,
             "Mavros not started, nobody subcsribes to ",
             args.mavros_ns + "/safety_area/set")

[TSC21]

Ok I'm already adding setpoint position also. But I'm stuck on the argparser part. As I said, I want to be able to have mavsetp as the primary parser, then give the option to choose between local and global and then, inside those, have args to -pos, -vel, etc with the corresponding metavar. This is the code I have right now on main:

parser = argparse.ArgumentParser(description="Commad line tool for control the device by setpoints.")
    parser.add_argument('-n', '--mavros-ns', help="ROS node namespace", default="/mavros")
    parser.add_argument('-v', '--verbose', action='store_true', help="verbose output")
    subarg = parser.add_subparsers()


    setp_local_pos_args = subarg.add_parser('local', help="Send local setpoint")
    setp_local_pos_args.set_defaults(func=do_setp_local_vel)
    setp_local_pos_args.add_argument('-pos', type=float, nargs=3, metavar=('x', 'y', 'z'),
                                  required=True, help="Local position")

    setp_local_vel_args = subarg.add_parser('local', help="Send local setpoint")
    setp_local_vel_args.set_defaults(func=do_setp_local_vel)
    setp_local_vel_args.add_argument('-vel', type=float, nargs=3, metavar=('vx', 'vy', 'vz'),
                                  required=True, help="Linear velocity")

    setp_global_pos_args = subarg.add_parser('global', help="Send global setpoint")
    setp_global_pos_args.set_defaults(func=do_setp_global_vel)
    setp_global_pos_args.add_argument('-pos', type=float, nargs=3, metavar=('x', 'y', 'z'),
                                  required=True, help="Global position")

    setp_global_vel_args = subarg.add_parser('global', help="Send global setpoint")
    setp_global_vel_args.set_defaults(func=do_setp_global_vel)
    setp_global_vel_args.add_argument('-vel', type=float, nargs=3, metavar=('vx', 'vy', 'vz'),
                                  required=True, help="Linear velocity")

    args = parser.parse_args(rospy.myargv(argv=sys.argv)[1:])
    args.func(args)

Need help to figure this out since the above doesn't work. (For example, rosrun mavros mavset local -h just offers me the option to use -pos and it's metavars).
Thanks in advance!

[vooon]

I don't understand why you added duplicate topics?

Also i think it's not handy to control using cmdline (some time ago, I tried to control the rover, and realized that it is very inconvenient).

[TSC21]

I don't understand why you added duplicate topics?

That's why I need your help to use the same topic to do different commands. Please right here a piece of code that will do the job and then I'll implement it in the rest.

Also i think it's not handy to control using cmdline

It can be handy some times. Probably to test purposes first.