remove send setpoints
This commit is contained in:
Sem van der Hoeven
Submodule src/px4_msgs updated: b64ef0475c...4db0a3f14e
Submodule src/px4_ros_com updated: 1562ff30d5...0bcf68bcb6
@@ -1,46 +0,0 @@
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cmake_minimum_required(VERSION 3.5)
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project(send_setpoints)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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# uncomment the following section in order to fill in
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(px4_ros_com REQUIRED)
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find_package(px4_msgs REQUIRED)
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add_executable(send_setpoint src/send_setpoint.cpp)
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ament_target_dependencies(send_setpoint rclcpp px4_ros_com px4_msgs)
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install(TARGETS
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send_setpoint
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DESTINATION lib/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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@@ -1,18 +0,0 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>send_setpoints</name>
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<version>0.0.0</version>
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<description>package to send attitude setpoints to pixhawk so it can be armed</description>
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<maintainer email="semmer99@gmail.com">ubuntu</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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@@ -1,74 +0,0 @@
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/*
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We need to send attitude setpoints to be able to arm the drone:
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https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET
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We need attitude setpoints because we don't have a GPS:
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https://discuss.px4.io/t/cannot-arm-drone-with-companion-computer-arming-denied-manual-control-lost/31565/9
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*/
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#include <chrono>
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#include "rclcpp/rclcpp.hpp"
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#include <px4_msgs/msg/offboard_control_mode.hpp>
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#include <px4_msgs/msg/timesync.hpp>
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using namespace std::chrono_literals;
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class SetpointSender : public rclcpp::Node
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{
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public:
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SetpointSender() : Node("setpoint_sender")
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{
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// create a publisher on the offboard control mode topic
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offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
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// create timer to send heartbeat messages (offboard control) every 100ms
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timer_ = this->create_wall_timer(100ms, std::bind(&SetpointSender::send_heartbeat, this));
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start_time = this->get_clock()->now().seconds();
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}
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private:
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/**
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* @brief Publish offboard control mode messages as a heartbeat.
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* Only the attitude is enabled, because that is how the drone will be controlled.
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*
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*/
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void send_heartbeat()
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{
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// set message to enable attitude
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auto msg = px4_msgs::msg::OffboardControlMode();
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msg.position = false;
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msg.velocity = false;
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msg.acceleration = false;
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msg.attitude = true;
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msg.body_rate = false;
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msg.actuator = false;
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// get timestamp and publish message
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msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
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offboard_control_mode_publisher_->publish(msg);
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RCLCPP_INFO(this->get_logger(), "sent offboard control mode message!");
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// check if 5 seconds have elapsed
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if (this->get_clock()->now().seconds() - start_time > 5)
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{
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RCLCPP_INFO(this->get_logger(), "5 seconds elapsed!");
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}
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}
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rclcpp::Publisher<px4_msgs::msg::OffboardControlMode>::SharedPtr offboard_control_mode_publisher_;
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rclcpp::TimerBase::SharedPtr timer_;
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double start_time;
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};
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int main(int argc, char *argv[])
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{
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rclcpp::init(argc, argv);
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rclcpp::spin(std::make_shared<SetpointSender>());
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rclcpp::shutdown();
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return 0;
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}
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