sem/5g_drone_ROS2
1
0
Fork 0
Code Issues 1 Pull Requests 1 Actions Packages Projects Releases Wiki Activity

change px4 controller to setvelocity service

Browse Source
This commit is contained in:
Sem van der Hoeven
2023-05-02 11:08:53 +02:00
parent 4249f2b589
commit 0b5d4c2c4f
1 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
src/px4_connection/src/px4_controller.cpp
View File

@@ -19,7 +19,7 @@ https://discuss.px4.io/t/cannot-arm-drone-with-companion-computer-arming-denied-
#include <px4_msgs/msg/vehicle_command.hpp>
#include <px4_msgs/msg/vehicle_control_mode.hpp>
#include <drone_services/srv/set_attitude.hpp>
#include <drone_services/srv/set_velocity.hpp>
// #include <px4_msgs/msg/offboard_control_mode.hpp>
@@ -39,7 +39,7 @@ public:
trajectory_setpoint_publisher = this->create_publisher<px4_msgs::msg::TrajectorySetpoint>("/fmu/in/trajectory_setpoint", 10);
// offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
set_attitude_service_ = this->create_service<drone_services::srv::SetAttitude>("set_attitude", std::bind(&PX4Controller::set_setpoint, this, std::placeholders::_1,std::placeholders::_2,std::placeholders::_3));
set_attitude_service_ = this->create_service<drone_services::srv::SetVelocity>("set_attitude", std::bind(&PX4Controller::set_setpoint, this, std::placeholders::_1,std::placeholders::_2,std::placeholders::_3));
// create timer to send vehicle attitude setpoints every second
timer_ = this->create_wall_timer(100ms, std::bind(&PX4Controller::send_setpoint, this));
@@ -52,7 +52,7 @@ private:
rclcpp::Publisher<px4_msgs::msg::VehicleAttitudeSetpoint>::SharedPtr vehicle_setpoint_publisher_;
rclcpp::Publisher<px4_msgs::msg::TrajectorySetpoint>::SharedPtr trajectory_setpoint_publisher;
rclcpp::Publisher<px4_msgs::msg::VehicleCommand>::SharedPtr vehicle_command_publisher_;
rclcpp::Service<drone_services::srv::SetAttitude>::SharedPtr set_attitude_service_;
rclcpp::Service<drone_services::srv::SetVelocity>::SharedPtr set_attitude_service_;
// rclcpp::Publisher<px4_msgs::msg::OffboardControlMode>::SharedPtr offboard_control_mode_publisher_;
@@ -71,8 +71,8 @@ private:
void set_setpoint(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<drone_services::srv::SetAttitude::Request> request,
const std::shared_ptr<drone_services::srv::SetAttitude::Response> response)
const std::shared_ptr<drone_services::srv::SetVelocity::Request> request,
const std::shared_ptr<drone_services::srv::SetVelocity::Response> response)
{
last_setpoint[0] = request->x_speed;
last_setpoint[1] = request->y_speed;