sem/5g_drone_ROS2
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add bind and fix typo

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Sem van der Hoeven
2023-05-10 16:27:10 +02:00
parent b3d170a3db
commit 3665d0ddd7
1 changed files with 4 additions and 4 deletions
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8
src/px4_connection/src/heartbeat.cpp
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@@ -24,9 +24,9 @@ public:
HeartBeat() : Node("heartbeat") HeartBeat() : Node("heartbeat")
{ {
// disarm_service_ = this->create_service<std_srvs::srv::Empty>("drone/disarm", std::bind(&PX4Controller::handle_disarm_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); // disarm_service_ = this->create_service<std_srvs::srv::Empty>("drone/disarm", std::bind(&PX4Controller::handle_disarm_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
vehicle_control_mode_service_ = this->create_service<drone_services::srv::SetVehicleControl>("drone/set_vehicle_control", std::bind()) vehicle_control_mode_service_ = this->create_service<drone_services::srv::SetVehicleControl>("drone/set_vehicle_control", std::bind(&Heartbeat::handle_vehicle_control_change, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
// create a publisher on the offboard control mode topic // create a publisher on the offboard control mode topic
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);
// create timer to send heartbeat messages (offboard control) every 100ms // create timer to send heartbeat messages (offboard control) every 100ms
timer_ = this->create_wall_timer(100ms, std::bind(&HeartBeat::send_heartbeat, this)); timer_ = this->create_wall_timer(100ms, std::bind(&HeartBeat::send_heartbeat, this));
start_time = this->get_clock()->now().seconds(); start_time = this->get_clock()->now().seconds();
@@ -66,7 +66,7 @@ private:
} }
void handle_vehicle_control_change( void handle_vehicle_control_change(
const std::shared_ptr<rmw_request_id> request_header, const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<drone_services::srv::SetVehicleControl::Request> request, const std::shared_ptr<drone_services::srv::SetVehicleControl::Request> request,
const std::shared_ptr<drone_services::srv::SetVehicleControl::Response> response) const std::shared_ptr<drone_services::srv::SetVehicleControl::Response> response)
{ {