sem/5g_drone_ROS2
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add logging of publishing arm status

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Sem van der Hoeven
2023-06-06 17:24:05 +02:00
parent ee79147c8c
commit d876a9ba24
1 changed files with 2 additions and 0 deletions
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2
src/px4_connection/src/px4_controller.cpp
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@@ -231,6 +231,7 @@ private:
user_in_control = false; user_in_control = false;
publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0, 0); 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(); auto msg = drone_services::msg::DroneArmStatus();
msg.armed = false; msg.armed = false;
arm_status_publisher_->publish(msg); arm_status_publisher_->publish(msg);
@@ -273,6 +274,7 @@ private:
this->last_thrust = -0.1; // spin motors at 10% thrust this->last_thrust = -0.1; // spin motors at 10% thrust
armed = true; armed = true;
RCLCPP_INFO(this->get_logger(), "Publishing arm status message");
auto msg = drone_services::msg::DroneArmStatus(); auto msg = drone_services::msg::DroneArmStatus();
msg.armed = true; msg.armed = true;
arm_status_publisher_->publish(msg); arm_status_publisher_->publish(msg);