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update drone services msg definitions in positionchanger

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Sem van der Hoeven
2023-05-25 11:55:36 +02:00
parent fe3917050e
commit dae0d06d61
1 changed files with 5 additions and 5 deletions
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10
src/drone_controls/src/PositionChanger.cpp
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@@ -1,8 +1,8 @@
#include "rclcpp/rclcpp.hpp" #include "rclcpp/rclcpp.hpp"
#include <px4_msgs/msg/vehicle_odometry.hpp> #include <px4_msgs/msg/vehicle_odometry.hpp>
#include <object_detection/msg/lidar_reading.hpp> #include <drone_services/msg/lidar_reading.hpp>
#include <height/msg/height_data.hpp> #include <drone_services/msg/height_data.hpp>
#include <drone_services/srv/set_vehicle_control.hpp> #include <drone_services/srv/set_vehicle_control.hpp>
#include <drone_services/srv/set_trajectory.hpp> #include <drone_services/srv/set_trajectory.hpp>
#include <drone_services/srv/move_position.hpp> #include <drone_services/srv/move_position.hpp>
@@ -39,7 +39,7 @@ public:
rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data; rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 5), qos_profile); auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 5), qos_profile);
this->lidar_subscription = this->create_subscription<object_detection::msg::LidarReading>("/drone/object_detection", qos, std::bind(&PositionChanger::handle_lidar_message, this, std::placeholders::_1)) this->odometry_subscription = this->create_subscription<px4_msgs::msg::VehicleOdometry>("/fmu/out/vehicle_odometry", qos, std::bind(&PositionChanger::handle_odometry_message, this, std::placeholders::_1)); this->lidar_subscription = this->create_subscription<drone_services::msg::LidarReading>("/drone/object_detection", qos, std::bind(&PositionChanger::handle_lidar_message, this, std::placeholders::_1)) this->odometry_subscription = this->create_subscription<px4_msgs::msg::VehicleOdometry>("/fmu/out/vehicle_odometry", qos, std::bind(&PositionChanger::handle_odometry_message, this, std::placeholders::_1));
this->odometry_subscription = this->create_subscription<px4_msgs::msg::VehicleOdometry>("/fmu/out/vehicle_odometry", qos, std::bind(&PositionChanger::handle_odometry_message, this, std::placeholders::_1)); this->odometry_subscription = this->create_subscription<px4_msgs::msg::VehicleOdometry>("/fmu/out/vehicle_odometry", qos, std::bind(&PositionChanger::handle_odometry_message, this, std::placeholders::_1));
this->move_position_service = this->create_service<drone_service::srv::MovePosition>("/drone/move_position", std::bind(&PositionChanger::handle_move_position_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); this->move_position_service = this->create_service<drone_service::srv::MovePosition>("/drone/move_position", std::bind(&PositionChanger::handle_move_position_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
@@ -110,7 +110,7 @@ check_move_direction_allowed()
: -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_RR], this->lidar_sensor_values[LIDAR_SENSOR_FR])); : -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_RR], this->lidar_sensor_values[LIDAR_SENSOR_FR]));
} }
void handle_lidar_message(const object_detection::msg::LidarReading::SharedPtr message) void handle_lidar_message(const drone_services::msg::LidarReading::SharedPtr message)
{ {
if (message->sensor_1 > 0) if (message->sensor_1 > 0)
@@ -185,7 +185,7 @@ static void get_x_y_with_rotation(float x, float y, float yaw, float *x_res, flo
} }
private: private:
rclcpp::Subscription<object_detection::msg::LidarReading> lidar_subscription; rclcpp::Subscription<drone_services::msg::LidarReading> lidar_subscription;
rclcpp::Subscription<px4_msgs::msg::VehicleOdometry> odometry_subscription; rclcpp::Subscription<px4_msgs::msg::VehicleOdometry> odometry_subscription;
rclcpp::Client<drone_services::srv::SetTrajectory>::SharedPtr trajectory_client; rclcpp::Client<drone_services::srv::SetTrajectory>::SharedPtr trajectory_client;