From a491269ace111fe536ff6972d952764cfd6ea6a3 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Thu, 25 May 2023 12:55:35 +0200 Subject: [PATCH] log of sending message --- src/drone_controls/src/PositionChanger.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/drone_controls/src/PositionChanger.cpp b/src/drone_controls/src/PositionChanger.cpp index 30051b50..55191e6c 100644 --- a/src/drone_controls/src/PositionChanger.cpp +++ b/src/drone_controls/src/PositionChanger.cpp @@ -96,6 +96,7 @@ public: this->trajectory_request->values[2] = this->current_speed_z; this->trajectory_request->yaw = this->current_yaw; this->trajectory_request->control_mode = PX4_CONTROLLER_CONTROL_MODE(DEFAULT_CONTROL_MODE); + RCLCPP_INFO(this->get_logger(), "Sending trajectory message\nx: %f\ny: %f\nz: %f\nyaw: %f", this->current_speed_x, this->current_speed_y, this->current_speed_z, this->current_yaw); auto trajectory_response = this->trajectory_client->async_send_request(this->trajectory_request, std::bind(&PositionChanger::trajectory_message_callback, this, std::placeholders::_1)); // if (rclcpp::spin_until_future_complete(this, trajectory_response) ==