sem/5g_drone_ROS2
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reading single byte

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Sem van der Hoeven
2023-03-03 13:10:05 +01:00
parent f0f63b1817
commit 015d7d7596
1 changed files with 10 additions and 1 deletions
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11
drone_sensors/src/height_sensor.cpp
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@@ -20,10 +20,18 @@ class HeightSensorPublisher : public rclcpp::Node
} }
private: private:
/**
* @brief Timer callback function to publish the height sensor data
*
*/
void timer_callback() void timer_callback()
{ {
char* readdata = new char[1];
serial_port.read(readdata, 1);
auto message = std_msgs::msg::String(); auto message = std_msgs::msg::String();
message.data = "Hello heigth sensor!"; message.data = "Height: " + std::to_string((int)readdata[0]);
RCLCPP_INFO(this->get_logger(), "Publishing: %s", message.data.c_str()); RCLCPP_INFO(this->get_logger(), "Publishing: %s", message.data.c_str());
publisher_->publish(message); publisher_->publish(message);
} }
@@ -38,6 +46,7 @@ class HeightSensorPublisher : public rclcpp::Node
if (!serial_port.is_open()) if (!serial_port.is_open())
{ {
RCLCPP_ERROR(this->get_logger(), "Could not open serial port"); RCLCPP_ERROR(this->get_logger(), "Could not open serial port");
return;
} }
else else
{ {