From 0c543614a954760e85afb5e6ce21ab78a6401150 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Fri, 28 Apr 2023 20:52:38 +0200 Subject: [PATCH] oops --- src/px4_connection/src/px4_controller.cpp | 30 +++++++++++------------ 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/src/px4_connection/src/px4_controller.cpp b/src/px4_connection/src/px4_controller.cpp index e2207913..37fb4a32 100644 --- a/src/px4_connection/src/px4_controller.cpp +++ b/src/px4_connection/src/px4_controller.cpp @@ -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