added callback and getter for status topic to python layer ; added in…

…finite_flight to crazyflie_examples

crazyflie_py/crazyflie_py/crazyflie.py

@@ -136,7 +136,7 @@ def __init__(self, node, cfname, paramTypeDict):
  self.setParamsService = node.create_client(
  SetParameters, '/crazyflie_server/set_parameters')
  self.setParamsService.wait_for_service()
- self.statusSubscriber = node.create_subscription(Status, f'{self.prefix}/status', self.listener_callback, 10)
+ self.statusSubscriber = node.create_subscription(Status, f'{self.prefix}/status', self.status_topic_callback, 10)
  self.status = {}
 
  # Query some settings
@@ -701,7 +701,7 @@ def cmdPosition(self, pos, yaw=0.):
  # self.setParam('ring/solidGreen', int(g * 255))
  # self.setParam('ring/solidBlue', int(b * 255))
 
- def listener_callback(self, msg):
+ def status_topic_callback(self, msg):
  """Callback method updating the status attribute every time 
  a crazyflie_interfaces/msg/Status message is published on the topic /cfXXX/status """
 
@@ -1001,7 +1001,7 @@ def cmdFullState(self, pos, vel, acc, yaw, omega):
  def get_statuses(self):
  '''
  Obtain a list containing the status of each crazyflie controlled by the Crazyserver
- Each status is a dict, see listener_callback() for more details
+ Each status is a dict, see status_topic_callback() for more details
  '''
 
  # self.get_logger().info(f'Crazyserver.get_statuses() was called')