src/drone_services/CMakeLists.txt

@@ -22,6 +22,7 @@ find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/SetAttitude.srv"
+  "srv/SetVelocity.srv"  
 )
 
 if(BUILD_TESTING)

src/drone_services/srv/SetAttitude.srv

@@ -1,9 +1,9 @@
-#all speeds are in meters/second
-float32 x_speed
-float32 y_speed
-float32 z_speed
+#all angles are in degrees
+float32 yaw
+float32 pitch
+float32 roll
 
-#angle is in degrees
-float32 angle
+#thrust between -1 and 1
+float32 thrust
 ---
 int8 status

src/drone_services/srv/SetVelocity.srv

@@ -0,0 +1,9 @@
+#all speeds are in meters/second
+float32 x_speed
+float32 y_speed
+float32 z_speed
+
+#angle is in degrees
+float32 angle
+---
+int8 status