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add placeholders

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Sem van der Hoeven
2023-05-01 15:28:58 +02:00
parent de2af0cf7c
commit 8f7e496107
1 changed files with 2 additions and 1 deletions
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3
src/px4_connection/src/px4_controller.cpp
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@@ -25,6 +25,7 @@ https://discuss.px4.io/t/cannot-arm-drone-with-companion-computer-arming-denied-
#define D_SPEED(x) -x - 9.81 #define D_SPEED(x) -x - 9.81
using namespace std::chrono_literals; using namespace std::chrono_literals;
using namespace std::placeholders;
class PX4Controller : public rclcpp::Node class PX4Controller : public rclcpp::Node
{ {
@@ -37,7 +38,7 @@ public:
trajectory_setpoint_publisher = this->create_publisher<px4_msgs::msg::TrajectorySetpoint>("/fmu/in/trajectory_setpoint", 10); trajectory_setpoint_publisher = this->create_publisher<px4_msgs::msg::TrajectorySetpoint>("/fmu/in/trajectory_setpoint", 10);
// 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);
set_attitude_service_ = this->create_service<px4_connection::srv::SetAttitude>("set_attitude", std::bind(&PX4Controller::set_setpoint, this)); set_attitude_service_ = this->create_service<px4_connection::srv::SetAttitude>("set_attitude", std::bind(&PX4Controller::set_setpoint, this, _1, _2, _3));
// service_ptr_ = this->create_service<std_srvs::srv::Empty>( // service_ptr_ = this->create_service<std_srvs::srv::Empty>(
// "test_service", // "test_service",