sem/5g_drone_ROS2
1
0
Fork 0
Code Issues 1 Pull Requests 1 Actions Packages Projects Releases Wiki Activity

merge Heigth sensor into main #4

Merged
SemvdH merged 34 commits from heigth_sensor into main 2023-04-25 09:12:28 +00:00
Conversation 0 Commits 34 Files Changed 9 +7 -4
1 changed files with 7 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit 1df349b478 - Show all commits

11
drone_sensors/src/height_sensor.cpp
View File

@@ -13,7 +13,7 @@ public:
{
publisher_ = this->create_publisher<std_msgs::msg::String>("height_sensor", 10);
timer_ = this->create_wall_timer(
500ms, std::bind(&HeightSensorPublisher::timer_callback, this));
50ms, std::bind(&HeightSensorPublisher::timer_callback, this));
RCLCPP_INFO(this->get_logger(), "Starting height sensor publisher");
setup_serial_port();
@@ -34,14 +34,17 @@ private:
char *readdata = new char[1];
serial_port.read(readdata, 1);
auto message = std_msgs::msg::String();
message.data = "Height: " + std::to_string((char)readdata[0]);
if (readdata[0] == 'T')
{
RCLCPP_INFO(this->get_logger(), "Height sensor start measurement");
char *measurement = new char[2];
serial_port.read(measurement, 2);
message.data = "Height: " + std::to_string(measurement[0]) + std::to_string(measurement[1]);
RCLCPP_INFO(this->get_logger(), "Publishing: %s", message.data.c_str());
publisher_->publish(message);
}
RCLCPP_INFO(this->get_logger(), "Publishing: %s", message.data.c_str());
publisher_->publish(message);
}
/**