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add back offboard control mode publisher

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Sem van der Hoeven
2023-05-02 11:27:05 +02:00
parent f23415f60d
commit 716c80d905
1 changed files with 1 additions and 1 deletions
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2
src/px4_connection/src/heartbeat.cpp
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@@ -22,7 +22,7 @@ public:
HeartBeat() : Node("setpoint_sender")
{
// 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);
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
timer_ = this->create_wall_timer(100ms, std::bind(&HeartBeat::send_heartbeat, this));
start_time = this->get_clock()->now().seconds();