From 68cb8effa9b2a0077d6c69fc026839fc0f6815f2 Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Thu, 20 Apr 2023 15:54:47 +0200
Subject: [PATCH] add px4 includes

---
 src/send_setpoints/CMakeLists.txt        |  7 +++++++
 src/send_setpoints/src/send_setpoint.cpp | 24 ++++++++++++++++++++++++
 2 files changed, 31 insertions(+)
 create mode 100644 src/send_setpoints/src/send_setpoint.cpp

diff --git a/src/send_setpoints/CMakeLists.txt b/src/send_setpoints/CMakeLists.txt
index e421df23..b42810f4 100644
--- a/src/send_setpoints/CMakeLists.txt
+++ b/src/send_setpoints/CMakeLists.txt
@@ -23,6 +23,13 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(px4_ros_com REQUIRED)
 
+add_executable(send_setpoints src/send_setpoints.cpp)
+ament_target_dependencies(send_setpoints rclcpp px4_ros_com)
+
+install(TARGETS
+  send_setpoints
+  DESTINATION lib/${PROJECT_NAME}
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights
diff --git a/src/send_setpoints/src/send_setpoint.cpp b/src/send_setpoints/src/send_setpoint.cpp
new file mode 100644
index 00000000..1cf68f09
--- /dev/null
+++ b/src/send_setpoints/src/send_setpoint.cpp
@@ -0,0 +1,24 @@
+#include "rclcpp/rclcpp.hpp"
+
+#include <px4_msgs/msg/offboard_control_mode.hpp>
+#include <px4_msgs/msg/trajectory_setpoint.hpp>
+#include <px4_msgs/msg/timesync.hpp>
+#include <px4_msgs/msg/vehicle_command.hpp>
+#include <px4_msgs/msg/vehicle_control_mode.hpp>
+
+class SetpointSender : public rclcpp::Node
+{
+    public:
+    SetpointSender() : Node("setpoint_sender")
+    {
+
+    }
+}
+
+int main(int argc, char *argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<LidarReader>());
+  rclcpp::shutdown();
+  return 0;
+}
\ No newline at end of file