sem/5g_drone_ROS2
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Sem van der Hoeven
2023-05-25 12:10:24 +02:00
parent a48408ee0c
commit 3d8074e823
1 changed files with 6 additions and 6 deletions
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12
src/drone_controls/src/PositionChanger.cpp
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@@ -39,15 +39,15 @@ public:
rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 5), qos_profile);
this->lidar_subscription = this->create_subscription<drone_services::msg::LidarReading>("/drone/object_detection", qos, std::bind(&PositionChanger::handle_lidar_message, this));
lidar_subscription = this->create_subscription<drone_services::msg::LidarReading>("/drone/object_detection", qos, std::bind(&PositionChanger::handle_lidar_message, this,std::placeholders::_1));
// vehicle_local_position_subscription_ = this->create_subscription<px4_msgs::msg::VehicleLocalPosition>("/fmu/out/vehicle_local_position", qos, std::bind(&PX4Controller::on_local_position_receive, this, std::placeholders::_1));
this->odometry_subscription = this->create_subscription<px4_msgs::msg::VehicleOdometry>("/fmu/out/vehicle_odometry", qos, std::bind(&PositionChanger::handle_odometry_message, this, std::placeholders::_1));
this->move_position_service = this->create_service<drone_service::srv::MovePosition>("/drone/move_position", std::bind(&PositionChanger::handle_move_position_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
this->trajectory_client = this->create_client<drone_services::srv::SetTrajectory>("/drone/set_trajectory");
this->vehicle_control_client = this->create_client<drone_services::srv::SetVehicleControl>("/drone/set_vehicle_control");
odometry_subscription = this->create_subscription<px4_msgs::msg::VehicleOdometry>("/fmu/out/vehicle_odometry", qos, std::bind(&PositionChanger::handle_odometry_message, this, std::placeholders::_1));
move_position_service = this->create_service<drone_services::srv::MovePosition>("/drone/move_position", std::bind(&PositionChanger::handle_move_position_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
trajectory_client = this->create_client<drone_services::srv::SetTrajectory>("/drone/set_trajectory");
vehicle_control_client = this->create_client<drone_services::srv::SetVehicleControl>("/drone/set_vehicle_control");
RCLCPP_INFO(this->get_logger(), "waiting for trajectory service...");
wait_for_service<rclcpp::Client<drone_services::srv::SetTrajectory>::SharedPtr>(this->trajectory_client);
RCLCPP_INFO(this->get_logger(), "waiting for vehicle control service...");