sem/5g_drone_ROS2
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fix pointer

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Sem van der Hoeven
2023-05-25 12:12:14 +02:00
parent 3d8074e823
commit 7b304866d3
1 changed files with 8 additions and 8 deletions
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14
src/drone_controls/src/PositionChanger.cpp
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@@ -39,14 +39,14 @@ public:
rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 5), qos_profile);
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));
odometry_subscription = this->create_subscription<px4_msgs::msg::VehicleOdometry>("/fmu/out/vehicle_odometry", qos, std::bind(&PositionChanger::handle_odometry_message, this, std::placeholders::_1));
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->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));
trajectory_client = this->create_client<drone_services::srv::SetTrajectory>("/drone/set_trajectory");
vehicle_control_client = this->create_client<drone_services::srv::SetVehicleControl>("/drone/set_vehicle_control");
this->trajectory_client = this->create_client<drone_services::srv::SetTrajectory>("/drone/set_trajectory");
this->vehicle_control_client = this->create_client<drone_services::srv::SetVehicleControl>("/drone/set_vehicle_control");
RCLCPP_INFO(this->get_logger(), "waiting for trajectory service...");
wait_for_service<rclcpp::Client<drone_services::srv::SetTrajectory>::SharedPtr>(this->trajectory_client);
@@ -185,8 +185,8 @@ public:
}
private:
rclcpp::Subscription<drone_services::msg::LidarReading> lidar_subscription;
rclcpp::Subscription<px4_msgs::msg::VehicleOdometry> odometry_subscription;
rclcpp::Subscription<drone_services::msg::LidarReading>::SharedPtr lidar_subscription;
rclcpp::Subscription<px4_msgs::msg::VehicleOdometry>::SharedPtr odometry_subscription;
rclcpp::Client<drone_services::srv::SetTrajectory>::SharedPtr trajectory_client;
rclcpp::Client<drone_services::srv::SetVehicleControl>::SharedPtr vehicle_control_client;