sem/5g_drone_ROS2
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Sem van der Hoeven
2023-05-29 13:01:02 +02:00
parent 340419a187
commit 7c1bb248e7
1 changed files with 1 additions and 1 deletions
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src/px4_connection/src/px4_controller.cpp
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@@ -54,7 +54,7 @@ public:
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));
// subscription on receiving a new control mode // subscription on receiving a new control mode
control_mode_subscription_ = this->create_subscription<drone_services::msg::DroneControlMode>("/drone/control_mode", qos, std::bind(&PX4Controller::on_control_mode_receive, this, std::placeholders::_1)); control_mode_subscription_ = this->create_subscription<drone_services::msg::DroneControlMode>("/drone/control_mode", qos, std::bind(&PX4Controller::on_control_mode_receive, this, std::placeholders::_1));
failsafe_subscription = this->create_subscription<drone_services::msg::FailsafeMsg>("/drone/failsafe", qos, std::bind(&PX4Controller::on_failsafe_receive, this, std::placeholders::_1)); failsafe_subscription_ = this->create_subscription<drone_services::msg::FailsafeMsg>("/drone/failsafe", qos, std::bind(&PX4Controller::on_failsafe_receive, this, std::placeholders::_1));
// services for controlling the drone // services for controlling the drone
set_attitude_service_ = this->create_service<drone_services::srv::SetAttitude>("/drone/set_attitude", std::bind(&PX4Controller::handle_attitude_setpoint, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); set_attitude_service_ = this->create_service<drone_services::srv::SetAttitude>("/drone/set_attitude", std::bind(&PX4Controller::handle_attitude_setpoint, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
set_trajectory_service_ = this->create_service<drone_services::srv::SetTrajectory>("/drone/set_trajectory", std::bind(&PX4Controller::handle_trajectory_setpoint, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); set_trajectory_service_ = this->create_service<drone_services::srv::SetTrajectory>("/drone/set_trajectory", std::bind(&PX4Controller::handle_trajectory_setpoint, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));