sem/5g_drone_ROS2
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stupid

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Sem van der Hoeven
2023-05-01 15:16:45 +02:00
parent 1ff1218359
commit f4819381a5
1 changed files with 8 additions and 17 deletions
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25
src/px4_connection/src/px4_controller.cpp
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@@ -26,10 +26,6 @@ https://discuss.px4.io/t/cannot-arm-drone-with-companion-computer-arming-denied-
using namespace std::chrono_literals; using namespace std::chrono_literals;
void set_setpoint(const px4_connection::srv::SetAttitude::Request request, px4_connection::srv::SetAttitude::Response response)
{
}
class PX4Controller : public rclcpp::Node class PX4Controller : public rclcpp::Node
{ {
public: public:
@@ -95,18 +91,6 @@ private:
msg.yaw = degrees_to_radians(80); msg.yaw = degrees_to_radians(80);
} }
// if (setpoint_count < 30)
// {
// } else {
// //try to hover
// msg.velocity[0] = 0;
// msg.velocity[1] = 0;
// msg.velocity[2] = 0;
// msg.yawspeed = 1;
// }
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000; msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
trajectory_setpoint_publisher->publish(msg); trajectory_setpoint_publisher->publish(msg);
@@ -260,10 +244,17 @@ private:
} }
}; };
void set_setpoint(const px4_connection::srv::SetAttitude::Request request, px4_connection::srv::SetAttitude::Response response)
{
}
int main(int argc, char *argv[]) int main(int argc, char *argv[])
{ {
rclcpp::init(argc, argv); rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<PX4Controller>());
rclcpp::Node node = PX4Controller();
node.create_service<px4_connection::srv::SetAttitude>("set_attitude", &set_setpoint);
rclcpp::spin(node);
rclcpp::shutdown(); rclcpp::shutdown();
return 0; return 0;
} }