From 73ca2a5e2df5a666c1c273e2d746048485a03faa Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Thu, 25 May 2023 12:06:06 +0200 Subject: [PATCH] stuff --- src/drone_controls/src/PositionChanger.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/drone_controls/src/PositionChanger.cpp b/src/drone_controls/src/PositionChanger.cpp index b3069aa1..e0a1d0c6 100644 --- a/src/drone_controls/src/PositionChanger.cpp +++ b/src/drone_controls/src/PositionChanger.cpp @@ -40,8 +40,9 @@ public: auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 5), qos_profile); this->lidar_subscription = this->create_subscription("/drone/object_detection", qos, std::bind(&PositionChanger::handle_lidar_message, this, std::placeholders::_1)); - this->odometry_subscription = this->create_subscription("/fmu/out/vehicle_odometry", qos, std::bind(&PositionChanger::handle_odometry_message, this, std::placeholders::_1)); - this->odometry_subscription = this->create_subscription("/fmu/out/vehicle_odometry", qos, std::bind(&PositionChanger::handle_odometry_message, this, std::placeholders::_1)); + + // vehicle_local_position_subscription_ = this->create_subscription("/fmu/out/vehicle_local_position", qos, std::bind(&PX4Controller::on_local_position_receive, this, std::placeholders::_1)); + this->odometry_subscription = this->create_subscription("/fmu/out/vehicle_odometry", qos, std::bind(&PositionChanger::handle_odometry_message, this, std::placeholders::_1)); this->move_position_service = this->create_service("/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/set_trajectory");