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add timer and publisher

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Sem van der Hoeven
2023-04-25 11:58:21 +00:00
parent 5c4d47b590
commit c748bc5da8
1 changed files with 15 additions and 6 deletions
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9
src/send_setpoints/src/send_setpoint.cpp
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@@ -17,9 +17,18 @@ class SetpointSender : public rclcpp::Node
{ {
public: public:
SetpointSender() : Node("setpoint_sender") SetpointSender() : Node("setpoint_sender")
{
offboard_control_mode_publisher_ = this->create_publisher<OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
}
private:
void send_heartbeat()
{ {
} }
rclcpp::Publisher<px4_msgs::msg::OffboardControlMode>::SharedPtr offboard_control_mode_publisher_;
rclcpp::TimerBase::SharedPtr timer_;
}; };
int main(int argc, char *argv[]) int main(int argc, char *argv[])