sem/5g_drone_ROS2
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add modes and remove close of port

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Sem van der Hoeven
2023-03-03 14:52:43 +01:00
parent 126ff49a35
commit 0f0324ab9d
1 changed files with 12 additions and 1 deletions
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13
drone_sensors/src/height_sensor.cpp
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@@ -4,8 +4,18 @@
#include "rclcpp/rclcpp.hpp" #include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp" #include "std_msgs/msg/string.hpp"
#define TEXT_MODE 0x00, 0x11, 0x01, 0x45
#define BINARY_MODE 0x00, 0x11, 0x02, 0x4C
#define SINGLE_PIXEL_MODE 0x00, 0x21, 0x01, 0xBC
#define TWO_BY_TWO_PIXEL_MODE 0x00, 0x21, 0x02, 0xB5
#define TWO_PIXEL_MODE 0x00, 0x21, 0x03, 0xB2
#define SHORT_RANGE_MODE 0x00, 0x61, 0x01, 0xE7
#define LONG_RANGE_MODE 0x00, 0x61, 0x03, 0xE9
using namespace std::chrono_literals; // for time measurements using namespace std::chrono_literals; // for time measurements
class HeightSensorPublisher : public rclcpp::Node class HeightSensorPublisher : public rclcpp::Node
{ {
public: public:
@@ -60,7 +70,7 @@ private:
RCLCPP_INFO(this->get_logger(), "Serial port opened on /dev/ttyACM0"); RCLCPP_INFO(this->get_logger(), "Serial port opened on /dev/ttyACM0");
} }
serial_port.close(); serial_port.write({BINARY_MODE});
} }
rclcpp::TimerBase::SharedPtr timer_; rclcpp::TimerBase::SharedPtr timer_;
@@ -77,6 +87,7 @@ int main(int argc, char *argv[])
executor.add_node(node); executor.add_node(node);
executor.spin(); executor.spin();
// rclcpp::spin(std::make_shared<HeightSensorPublisher>()); // rclcpp::spin(std::make_shared<HeightSensorPublisher>());
rclcpp::shutdown(); rclcpp::shutdown();
return 0; return 0;