add trajectory setpoint handling

2023-05-12 16:18:39 +02:00
parent 46d32066a2
commit 2c4f601759
3 changed files with 49 additions and 4 deletions
--- a/src/drone_services/CMakeLists.txt
+++ b/src/drone_services/CMakeLists.txt
@@ -22,6 +22,7 @@ find_package(rosidl_default_generators REQUIRED)

 rosidl_generate_interfaces(${PROJECT_NAME}
  "srv/SetAttitude.srv"
+  "srv/SetTrajectory.srv"
  "srv/SetVelocity.srv"  
  "srv/TakePicture.srv"
  "srv/SetVehicleControl.srv"
--- a/src/drone_services/srv/SetTrajectory.srv
+++ b/src/drone_services/srv/SetTrajectory.srv
@@ -0,0 +1,7 @@
+# control mode velocity or position, refer to drone_services/msg/DroneControlMode.msg
+int8 control_mode
+# x, y, z values
+float32[3] values
+float32 yaw
+---
+bool success