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log of sending message

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Sem van der Hoeven
2023-05-25 12:55:35 +02:00
parent f356f45c26
commit a491269ace
1 changed files with 1 additions and 0 deletions
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src/drone_controls/src/PositionChanger.cpp
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@@ -96,6 +96,7 @@ public:
this->trajectory_request->values[2] = this->current_speed_z; this->trajectory_request->values[2] = this->current_speed_z;
this->trajectory_request->yaw = this->current_yaw; this->trajectory_request->yaw = this->current_yaw;
this->trajectory_request->control_mode = PX4_CONTROLLER_CONTROL_MODE(DEFAULT_CONTROL_MODE); 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)); 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) == // if (rclcpp::spin_until_future_complete(this, trajectory_response) ==