sem/5g_drone_ROS2
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add test

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Sem van der Hoeven
2023-05-01 15:52:38 +02:00
parent 8be8a6d1f3
commit a919c5b7f7
1 changed files with 10 additions and 0 deletions
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10
src/px4_connection/src/px4_controller.cpp
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@@ -30,6 +30,15 @@ using namespace std::placeholders;
class PX4Controller : public rclcpp::Node class PX4Controller : public rclcpp::Node
{ {
public: public:
void yeet(
const std::shared_ptr<px4_connection::srv::SetAttitude::Request> request,
const std::shared_ptr<px4_connection::srv::SetAttitude::Response> response)
{
}
PX4Controller() : Node("px4_controller") PX4Controller() : Node("px4_controller")
{ {
// create a publisher on the vehicle attitude setpoint topic // create a publisher on the vehicle attitude setpoint topic
@@ -38,6 +47,7 @@ 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", &yeet);
// set_attitude_service_ = this->create_service<px4_connection::srv::SetAttitude>("set_attitude", std::bind(&PX4Controller::set_setpoint, this, _1, _2, _3)); // 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>(