sem/5g_drone_ROS2
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merge Service branch into main #5

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SemvdH merged 193 commits from service into main 2023-05-08 13:42:59 +00:00
Conversation 0 Commits 193 Files Changed 27 +3 -3
1 changed files with 3 additions and 3 deletions
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Showing only changes of commit 4540a24d85 - Show all commits

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src/px4_connection/src/px4_controller.cpp
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@@ -22,7 +22,7 @@ public:
PX4Controller() : Node("px4_controller")
{
// create a publisher on the vehicle attitude setpoint topic
offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::VehicleAttitudeSetpoint>("/fmu/in/vehicle_attitude_setpoint", 10);
vehicle_setpoint_publisher_ = this->create_publisher<px4_msgs::msg::VehicleAttitudeSetpoint>("/fmu/in/vehicle_attitude_setpoint", 10);
// create timer to send vehicle attitude setpoints every second
timer_ = this->create_wall_timer(1000ms, std::bind(&PX4Controller::send_setpoint, this));
}
@@ -60,11 +60,11 @@ private:
msg.fw_control_yaw_wheel = false;
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
publisher_->publish(msg);
vehicle_setpoint_publisher_->publish(msg);
RCLCPP_INFO(this->get_logger(), "published message");
}
rclcpp::Publisher<px4_msgs::msg::VehicleAttitudeSetpoint>::SharedPtr offboard_control_mode_publisher_;
rclcpp::Publisher<px4_msgs::msg::VehicleAttitudeSetpoint>::SharedPtr vehicle_setpoint_publisher_;
rclcpp::TimerBase::SharedPtr timer_;
};