sem/5g_drone_ROS2
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Merge API branch into main #12

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SemvdH merged 334 commits from api into main 2023-06-13 19:54:43 +00:00
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src/px4_connection/src/px4_controller.cpp
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@@ -231,6 +231,7 @@ private:
user_in_control = false;
publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0, 0);
RCLCPP_INFO(this->get_logger(), "Publishing disarm status message");
auto msg = drone_services::msg::DroneArmStatus();
msg.armed = false;
arm_status_publisher_->publish(msg);
@@ -273,6 +274,7 @@ private:
this->last_thrust = -0.1; // spin motors at 10% thrust
armed = true;
RCLCPP_INFO(this->get_logger(), "Publishing arm status message");
auto msg = drone_services::msg::DroneArmStatus();
msg.armed = true;
arm_status_publisher_->publish(msg);