sem/5g_drone_ROS2
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Sem van der Hoeven
2023-05-01 14:48:08 +02:00
parent 8f807bdfa3
commit 1c995253bd
1 changed files with 1 additions and 1 deletions
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src/px4_connection/src/px4_controller.cpp
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@@ -37,7 +37,7 @@ public:
trajectory_setpoint_publisher = this->create_publisher<px4_msgs::msg::TrajectorySetpoint>("/fmu/in/trajectory_setpoint", 10); trajectory_setpoint_publisher = this->create_publisher<px4_msgs::msg::TrajectorySetpoint>("/fmu/in/trajectory_setpoint", 10);
// offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10); // offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
set_attitude_service = this->create_service<px4_connection::srv::SetAttitude>("set_attitude", std::bind(&PX4Controller::set_setpoint, this)); set_attitude_service_ = this->create_service<px4_connection::srv::SetAttitude>("set_attitude", std::bind(&PX4Controller::set_setpoint, this));
// create timer to send vehicle attitude setpoints every second // create timer to send vehicle attitude setpoints every second
timer_ = this->create_wall_timer(100ms, std::bind(&PX4Controller::send_setpoint, this)); timer_ = this->create_wall_timer(100ms, std::bind(&PX4Controller::send_setpoint, this));