sem/5g_drone_ROS2
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Sem van der Hoeven
2023-04-25 16:54:57 +02:00
parent 455c495685
commit fd2ace29ce
1 changed files with 2 additions and 2 deletions
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4
src/px4_connection/src/px4_controller.cpp
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@@ -25,13 +25,13 @@ public:
{ {
// create a publisher on the vehicle attitude setpoint topic // create a publisher on the vehicle attitude setpoint topic
vehicle_setpoint_publisher_ = this->create_publisher<px4_msgs::msg::VehicleAttitudeSetpoint>("/fmu/in/vehicle_attitude_setpoint", 10); vehicle_setpoint_publisher_ = this->create_publisher<px4_msgs::msg::VehicleAttitudeSetpoint>("/fmu/in/vehicle_attitude_setpoint", 10);
vehicle_command_publisher_ = this->create_publisher<px4::msgs::msg::VehicleCommand>("/fmu/in/vehicle_command", 10); vehicle_command_publisher_ = this->create_publisher<px4_msgs::msgs::msg::VehicleCommand>("/fmu/in/vehicle_command", 10);
// set to offboard mode // set to offboard mode
this->publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_DO_SET_MODE, 1, 6); this->publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_DO_SET_MODE, 1, 6);
RCLCPP_INFO(this->get_logger(), "Set to offboard mode"); RCLCPP_INFO(this->get_logger(), "Set to offboard mode");
// arm the drone // arm the drone
publish_vehicle_command(VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 1.0); publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 1.0);
RCLCPP_INFO(this->get_logger(), "Arm command sent"); RCLCPP_INFO(this->get_logger(), "Arm command sent");