From d876a9ba2466c3060cc4d2bb45c1df5bcab8f0d6 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Tue, 6 Jun 2023 17:24:05 +0200 Subject: [PATCH] add logging of publishing arm status --- src/px4_connection/src/px4_controller.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/px4_connection/src/px4_controller.cpp b/src/px4_connection/src/px4_controller.cpp index d7f99a56..28dfe2ac 100644 --- a/src/px4_connection/src/px4_controller.cpp +++ b/src/px4_connection/src/px4_controller.cpp @@ -231,6 +231,7 @@ private: user_in_control = false; publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0, 0); + RCLCPP_INFO(this->get_logger(), "Publishing disarm status message"); auto msg = drone_services::msg::DroneArmStatus(); msg.armed = false; arm_status_publisher_->publish(msg); @@ -273,6 +274,7 @@ private: this->last_thrust = -0.1; // spin motors at 10% thrust armed = true; + RCLCPP_INFO(this->get_logger(), "Publishing arm status message"); auto msg = drone_services::msg::DroneArmStatus(); msg.armed = true; arm_status_publisher_->publish(msg);