sem/5g_drone_ROS2
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add service callback

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Sem van der Hoeven
2023-05-25 12:20:40 +02:00
parent 6ca7597703
commit 680b7a2792
1 changed files with 21 additions and 4 deletions
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25
src/drone_controls/src/PositionChanger.cpp
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@@ -39,10 +39,10 @@ public:
rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data; rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 5), qos_profile); 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,std::placeholders::_1)); 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)); // 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->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_services::srv::MovePosition>("/drone/move_position", std::bind(&PositionChanger::handle_move_position_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); this->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));
this->trajectory_client = this->create_client<drone_services::srv::SetTrajectory>("/drone/set_trajectory"); this->trajectory_client = this->create_client<drone_services::srv::SetTrajectory>("/drone/set_trajectory");
@@ -57,7 +57,8 @@ public:
this->vehicle_control_request = std::make_shared<drone_services::srv::SetVehicleControl::Request>(); this->vehicle_control_request = std::make_shared<drone_services::srv::SetVehicleControl::Request>();
this->vehicle_control_request->control = DEFAULT_CONTROL_MODE; this->vehicle_control_request->control = DEFAULT_CONTROL_MODE;
auto control_mode_response = this->vehicle_control_client->async_send_request(this->vehicle_control_request); auto control_mode_response = this->vehicle_control_client->async_send_request(this->vehicle_control_request,
std::bind(&PositionChanger::vehicle_control_service_callback, this, std::placeholders::_1));
if (rclcpp::spin_until_future_complete(this, control_mode_response) == if (rclcpp::spin_until_future_complete(this, control_mode_response) ==
rclcpp::FutureReturnCode::SUCCESS) rclcpp::FutureReturnCode::SUCCESS)
@@ -69,6 +70,22 @@ public:
RCLCPP_ERROR(this->get_logger(), "Failed to call service to set vehicle control"); RCLCPP_ERROR(this->get_logger(), "Failed to call service to set vehicle control");
} }
} }
void vehicle_control_service_callback(rclcpp::Client<drone_services::srv::SetVehicleControl>::SharedFuture future)
{
auto status = future.wait_for(1s);
if (status == std::future_status::ready)
{
// uncomment below line if using Empty() message
// RCLCPP_INFO(this->get_logger(), "Result: success");
// comment below line if using Empty() message
RCLCPP_INFO(this->get_logger(), "Vehicle control mode set result: %d", future.get()->success);
}
else
{
RCLCPP_INFO(this->get_logger(), "Service In-Progress...");
}
}
void send_trajectory_message() void send_trajectory_message()
{ {
this->trajectory_request->x = this->current_speed_x; this->trajectory_request->x = this->current_speed_x;