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add print of service

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Sem van der Hoeven
2023-05-10 16:40:01 +02:00
parent 567604033b
commit 89a37a8f9c
1 changed files with 2 additions and 1 deletions
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3
src/px4_connection/src/heartbeat.cpp
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@@ -24,7 +24,8 @@ public:
HeartBeat() : Node("heartbeat")
{
// disarm_service_ = this->create_service<std_srvs::srv::Empty>("drone/disarm", std::bind(&PX4Controller::handle_disarm_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
vehicle_control_mode_service_ = this->create_service<drone_services::srv::SetVehicleControl>("drone/set_vehicle_control", std::bind(&HeartBeat::handle_vehicle_control_change, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
vehicle_control_mode_service_ = this->create_service<drone_services::srv::SetVehicleControl>("/drone/set_vehicle_control", std::bind(&HeartBeat::handle_vehicle_control_change, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
RCLCPP_INFO(this->get_logger(), "initialized service /drone/set_vehicle_control");
// 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);
// create timer to send heartbeat messages (offboard control) every 100ms