sem/5g_drone_ROS2
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change heartbeat hz to 100

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Sem van der Hoeven
2023-05-26 23:44:49 +02:00
parent 90f3b55dc9
commit fe4ab53c87
4 changed files with 18 additions and 15 deletions
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7
src/drone_controls/src/PositionChanger.cpp
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@@ -119,7 +119,7 @@ public:
auto status = future.wait_for(1s);
if (status == std::future_status::ready)
{
RCLCPP_INFO(this->get_logger(), "Set failsafe enabled: %d, message: ", future.get()->enabled, future.get()->message);
RCLCPP_INFO(this->get_logger(), "Set failsafe enabled: %d, message: %s", future.get()->enabled, future.get()->message);
}
else
{
@@ -143,6 +143,11 @@ public:
auto trajectory_response = this->trajectory_client->async_send_request(this->trajectory_request, std::bind(&PositionChanger::trajectory_message_callback, this, std::placeholders::_1));
}
/**
* @brief Enables the failsafe with the specified message
*
* @param message the message indicating the cause of the failsafe
*/
void enable_failsafe(std::string message)
{
this->failsafe_enabled = true;