sem/5g_drone_ROS2
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add server function

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Sem van der Hoeven
2023-05-01 14:46:06 +02:00
parent 6129216d80
commit b9b8c99f20
1 changed files with 9 additions and 0 deletions
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9
src/px4_connection/src/px4_controller.cpp
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@@ -37,6 +37,8 @@ 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", &set_setpoint);
// create timer to send vehicle attitude setpoints every second // create timer to send vehicle attitude setpoints every second
timer_ = this->create_wall_timer(100ms, std::bind(&PX4Controller::send_setpoint, this)); timer_ = this->create_wall_timer(100ms, std::bind(&PX4Controller::send_setpoint, this));
@@ -48,6 +50,8 @@ private:
rclcpp::Publisher<px4_msgs::msg::VehicleAttitudeSetpoint>::SharedPtr vehicle_setpoint_publisher_; rclcpp::Publisher<px4_msgs::msg::VehicleAttitudeSetpoint>::SharedPtr vehicle_setpoint_publisher_;
rclcpp::Publisher<px4_msgs::msg::TrajectorySetpoint>::SharedPtr trajectory_setpoint_publisher; rclcpp::Publisher<px4_msgs::msg::TrajectorySetpoint>::SharedPtr trajectory_setpoint_publisher;
rclcpp::Publisher<px4_msgs::msg::VehicleCommand>::SharedPtr vehicle_command_publisher_; rclcpp::Publisher<px4_msgs::msg::VehicleCommand>::SharedPtr vehicle_command_publisher_;
rclcpp::Service<px4_connection::srv::SetAttitude>::SharedPtr set_attitude_service_;
// rclcpp::Publisher<px4_msgs::msg::OffboardControlMode>::SharedPtr offboard_control_mode_publisher_; // rclcpp::Publisher<px4_msgs::msg::OffboardControlMode>::SharedPtr offboard_control_mode_publisher_;
rclcpp::TimerBase::SharedPtr timer_; rclcpp::TimerBase::SharedPtr timer_;
@@ -60,6 +64,11 @@ private:
bool ready_to_fly = false; bool ready_to_fly = false;
float cur_yaw = 0; float cur_yaw = 0;
void set_setpoint(const px4_connection::srv::SetAttitude::Request request, px4_connection::srv::SetAttitude::Response response)
{
}
void send_trajectory_setpoint() void send_trajectory_setpoint()
{ {