sem/5g_drone_ROS2
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add reading bytes when getting a T

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Sem van der Hoeven
2023-03-03 14:19:42 +01:00
parent 24fc0c2ca5
commit 1df349b478
1 changed files with 7 additions and 4 deletions
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9
drone_sensors/src/height_sensor.cpp
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@@ -13,7 +13,7 @@ public:
{ {
publisher_ = this->create_publisher<std_msgs::msg::String>("height_sensor", 10); publisher_ = this->create_publisher<std_msgs::msg::String>("height_sensor", 10);
timer_ = this->create_wall_timer( timer_ = this->create_wall_timer(
500ms, std::bind(&HeightSensorPublisher::timer_callback, this)); 50ms, std::bind(&HeightSensorPublisher::timer_callback, this));
RCLCPP_INFO(this->get_logger(), "Starting height sensor publisher"); RCLCPP_INFO(this->get_logger(), "Starting height sensor publisher");
setup_serial_port(); setup_serial_port();
@@ -34,14 +34,17 @@ private:
char *readdata = new char[1]; char *readdata = new char[1];
serial_port.read(readdata, 1); serial_port.read(readdata, 1);
auto message = std_msgs::msg::String(); auto message = std_msgs::msg::String();
message.data = "Height: " + std::to_string((char)readdata[0]);
if (readdata[0] == 'T') if (readdata[0] == 'T')
{ {
RCLCPP_INFO(this->get_logger(), "Height sensor start measurement"); RCLCPP_INFO(this->get_logger(), "Height sensor start measurement");
} char *measurement = new char[2];
serial_port.read(measurement, 2);
message.data = "Height: " + std::to_string(measurement[0]) + std::to_string(measurement[1]);
RCLCPP_INFO(this->get_logger(), "Publishing: %s", message.data.c_str()); RCLCPP_INFO(this->get_logger(), "Publishing: %s", message.data.c_str());
publisher_->publish(message); publisher_->publish(message);
}
} }
/** /**