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Sem van der Hoeven
2023-04-28 20:52:38 +02:00
parent c4e9e3bb10
commit 0c543614a9
1 changed files with 15 additions and 15 deletions
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30
src/px4_connection/src/px4_controller.cpp
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@@ -133,22 +133,22 @@ private:
vehicle_setpoint_publisher_->publish(msg);
}
void send_heartbeat()
{
// set message to enable attitude
auto msg = px4_msgs::msg::OffboardControlMode();
msg.position = false;
msg.velocity = false;
msg.acceleration = false;
msg.attitude = true;
msg.body_rate = false;
msg.actuator = false;
// void send_heartbeat()
// {
// // set message to enable attitude
// auto msg = px4_msgs::msg::OffboardControlMode();
// msg.position = false;
// msg.velocity = false;
// msg.acceleration = false;
// msg.attitude = true;
// msg.body_rate = false;
// msg.actuator = false;
// get timestamp and publish message
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
offboard_control_mode_publisher_->publish(msg);
// RCLCPP_INFO(this->get_logger(), "sent offboard control mode message!");
}
// // get timestamp and publish message
// msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
// offboard_control_mode_publisher_->publish(msg);
// // RCLCPP_INFO(this->get_logger(), "sent offboard control mode message!");
// }
/**
* @brief Publish vehicle commands