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/**
* @file demo_offboard_position_Setpoints.cpp
*
* Demo for sending offboard position setpoints to mavros to show offboard position control in SITL
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "demo_offboard_position_setpoints.h"
#include <platforms/px4_middleware.h>
#include <geometry_msgs/PoseStamped.h>
DemoOffboardPositionSetpoints::DemoOffboardPositionSetpoints() :
_n(),
_local_position_sp_pub(_n.advertise<geometry_msgs::PoseStamped>("mavros/setpoint/local_position", 1))
{
}
int DemoOffboardPositionSetpoints::main()
{
px4::Rate loop_rate(10);
while (ros::ok()) {
loop_rate.sleep();
ros::spinOnce();
/* Publish example offboard position setpoint */
geometry_msgs::PoseStamped pose;
pose.pose.position.x = 0;
pose.pose.position.y = 0;
pose.pose.position.z = 1;
_local_position_sp_pub.publish(pose);
}
return 0;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "demo_offboard_position_setpoints");
DemoOffboardPositionSetpoints d;
return d.main();
}