sem/5g_drone_ROS2
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typo

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Sem van der Hoeven
2023-05-10 16:28:01 +02:00
parent 3665d0ddd7
commit 436051db5e
1 changed files with 9 additions and 9 deletions
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18
src/px4_connection/src/heartbeat.cpp
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@@ -24,7 +24,7 @@ public:
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));
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));
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
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
@@ -70,14 +70,14 @@ private:
const std::shared_ptr<drone_services::srv::SetVehicleControl::Request> request,
const std::shared_ptr<drone_services::srv::SetVehicleControl::Response> response)
{
// if (request->control < 0 || request->control > CONTROL_POSITION_POS)
// {
// response->status = 1;
// } else {
// this->control_mode = request->control
// RCLCPP_INFO(this->get_logger(), "set control mode to %d", this->control_mode)
// response->status = 0;
// }
if (request->control < 0 || request->control > CONTROL_POSITION_POS)
{
response->status = 1;
} else {
this->control_mode = request->control
RCLCPP_INFO(this->get_logger(), "set control mode to %d", this->control_mode)
response->status = 0;
}
}
};