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add logging of receiving correct trajectory setpoint message

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Sem van der Hoeven
2023-05-15 10:51:56 +02:00
parent 8cb032b8d7
commit 25a9aa3509
1 changed files with 3 additions and 0 deletions
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3
src/px4_connection/src/px4_controller.cpp
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@@ -156,12 +156,14 @@ private:
} }
else else
{ {
RCLCPP_INFO(this->get_logger(), "Got new trajectory setpoint with control mode: %d", request->control_mode);
if (request->control_mode == CONTROL_MODE_VELOCITY) if (request->control_mode == CONTROL_MODE_VELOCITY)
{ {
for (int i = 0; i < 3; i++) for (int i = 0; i < 3; i++)
{ {
velocity[i] = request->values[i]; velocity[i] = request->values[i];
} }
RCLCPP_INFO(this->get_logger(), "Got new velocity setpoint: %f %f %f", velocity[0], velocity[1], velocity[2]);
} }
else if (request->control_mode == CONTROL_MODE_POSITION) else if (request->control_mode == CONTROL_MODE_POSITION)
{ {
@@ -169,6 +171,7 @@ private:
{ {
position[i] = request->values[i]; position[i] = request->values[i];
} }
RCLCPP_INFO(this->get_logger(), "Got new position setpoint: %f %f %f", position[0], position[1], position[2]);
} }
last_angle = request->yaw; last_angle = request->yaw;