remove send setpoints

src/send_setpoints/CMakeLists.txt

@@ -1,46 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(send_setpoints)
-
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(px4_ros_com REQUIRED)
-find_package(px4_msgs REQUIRED)
-
-add_executable(send_setpoint src/send_setpoint.cpp)
-ament_target_dependencies(send_setpoint rclcpp px4_ros_com px4_msgs)
-
-install(TARGETS
-  send_setpoint
-  DESTINATION lib/${PROJECT_NAME}
-)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
-  #set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()

src/send_setpoints/package.xml

@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>send_setpoints</name>
-  <version>0.0.0</version>
-  <description>package to send attitude setpoints to pixhawk so it can be armed</description>
-  <maintainer email="semmer99@gmail.com">ubuntu</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>

src/send_setpoints/src/send_setpoint.cpp

@@ -1,74 +0,0 @@
-/*
-
-We need to send attitude setpoints to be able to arm the drone:
-https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET
-We need attitude setpoints because we don't have a GPS:
-https://discuss.px4.io/t/cannot-arm-drone-with-companion-computer-arming-denied-manual-control-lost/31565/9
-
-*/
-
-#include <chrono>
-
-#include "rclcpp/rclcpp.hpp"
-
-#include <px4_msgs/msg/offboard_control_mode.hpp>
-#include <px4_msgs/msg/timesync.hpp>
-
-using namespace std::chrono_literals;
-
-class SetpointSender : public rclcpp::Node
-{
-public:
-    SetpointSender() : Node("setpoint_sender")
-    {
-        // create a publisher on the offboard control mode topic
-        offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
-        // create timer to send heartbeat messages (offboard control) every 100ms
-        timer_ = this->create_wall_timer(100ms, std::bind(&SetpointSender::send_heartbeat, this));
-        start_time = this->get_clock()->now().seconds();
-    }
-
-private:
-
-/**
- * @brief Publish offboard control mode messages as a heartbeat.
- *        Only the attitude is enabled, because that is how the drone will be controlled.
- * 
- */
-    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!");
-
-        // check if 5 seconds have elapsed
-        if (this->get_clock()->now().seconds() - start_time > 5)
-        {
-            RCLCPP_INFO(this->get_logger(), "5 seconds elapsed!");
-        }
-
-
-        
-    }
-    rclcpp::Publisher<px4_msgs::msg::OffboardControlMode>::SharedPtr offboard_control_mode_publisher_;
-    rclcpp::TimerBase::SharedPtr timer_;
-    double start_time;
-};
-
-int main(int argc, char *argv[])
-{
-    rclcpp::init(argc, argv);
-    rclcpp::spin(std::make_shared<SetpointSender>());
-    rclcpp::shutdown();
-    return 0;
-}