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merge Position changer into main to use files in report #10

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SemvdH merged 44 commits from position_changer into main 2023-05-26 16:04:26 +00:00
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1 changed files with 2 additions and 1 deletions
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src/drone_controls/src/PositionChanger.cpp
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@@ -39,7 +39,8 @@ public:
rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 5), qos_profile);
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->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->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));