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change qos for drone status

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Sem van der Hoeven
2023-06-06 17:30:15 +02:00
parent d876a9ba24
commit 60d2aeaa7f
1 changed files with 7 additions and 6 deletions
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13
src/drone_status/drone_status/drone_status.py
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@@ -28,11 +28,11 @@ class DroneStatusNode(Node):
self.publisher = self.create_publisher( self.publisher = self.create_publisher(
DroneStatus, '/drone/status', 10) DroneStatus, '/drone/status', 10)
self.control_mode_subscriber = self.create_subscription( self.control_mode_subscriber = self.create_subscription(
DroneControlMode, '/drone/control_mode', self.control_mode_callback, qos_profile=qos_profile) DroneControlMode, '/drone/control_mode', self.control_mode_callback, 10)
self.arm_status_subscriber = self.create_subscription( self.arm_status_subscriber = self.create_subscription(
DroneArmStatus, '/drone/arm_status', self.arm_status_callback, qos_profile=qos_profile) DroneArmStatus, '/drone/arm_status', self.arm_status_callback, 10)
self.route_status_subscriber = self.create_subscription( self.route_status_subscriber = self.create_subscription(
DroneRouteStatus, '/drone/route_status', self.route_status_callback, qos_profile=qos_profile) DroneRouteStatus, '/drone/route_status', self.route_status_callback, 10)
self.battery_status_subscriber = self.create_subscription( self.battery_status_subscriber = self.create_subscription(
BatteryStatus, '/fmu/out/battery_status', self.battery_status_callback, qos_profile=qos_profile) BatteryStatus, '/fmu/out/battery_status', self.battery_status_callback, qos_profile=qos_profile)
self.cpu_load_subscriber = self.create_subscription( self.cpu_load_subscriber = self.create_subscription(
@@ -59,9 +59,10 @@ class DroneStatusNode(Node):
msg.position = self.position msg.position = self.position
msg.velocity = self.velocity msg.velocity = self.velocity
self.publisher.publish(msg) self.publisher.publish(msg)
self.get_logger().info('Publishing status message') # self.get_logger().info('Publishing status message')
def control_mode_callback(self, msg): def control_mode_callback(self, msg):
self.get_logger().info('Got control mode callback!')
if msg.control_mode == CONTROL_MODE_ATTITUDE: if msg.control_mode == CONTROL_MODE_ATTITUDE:
self.control_mode = "attitude" self.control_mode = "attitude"
elif msg.control_mode == CONTROL_MODE_VELOCITY: elif msg.control_mode == CONTROL_MODE_VELOCITY:
@@ -72,9 +73,9 @@ class DroneStatusNode(Node):
self.control_mode = "unknown" self.control_mode = "unknown"
def arm_status_callback(self, msg): def arm_status_callback(self, msg):
print("Got arm status callback!") self.get_logger().info("Got arm status callback!")
if msg.armed: if msg.armed:
print("DRONE IS ARMED") self.get_logger().info("DRONE IS ARMED")
self.armed = msg.armed self.armed = msg.armed
def route_status_callback(self, msg): def route_status_callback(self, msg):