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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-15 12:40:46 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-28 18:25:35 +0100 |
| commit | 5beafd25e6947b5f6ac33fe66521fb462a1be1b0 (patch) | |
| tree | 447cb971fb1a8d01a1a784759402a5da8ce078b1 /src/platforms/ros/nodes/mavlink/mavlink.h | |
| parent | 6e69558b42243a2b661d6fc48fc07a22961d4e9e (diff) | |
| download | px4-firmware-5beafd25e6947b5f6ac33fe66521fb462a1be1b0.tar.gz px4-firmware-5beafd25e6947b5f6ac33fe66521fb462a1be1b0.tar.bz2 px4-firmware-5beafd25e6947b5f6ac33fe66521fb462a1be1b0.zip | |
ros: mavlink dummy node: handle position target local ned mavlink messages and forward them to position_setpoint_triplet
Diffstat (limited to 'src/platforms/ros/nodes/mavlink/mavlink.h')
| -rw-r--r-- | src/platforms/ros/nodes/mavlink/mavlink.h | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/src/platforms/ros/nodes/mavlink/mavlink.h b/src/platforms/ros/nodes/mavlink/mavlink.h index a246af4a4..acb2408f3 100644 --- a/src/platforms/ros/nodes/mavlink/mavlink.h +++ b/src/platforms/ros/nodes/mavlink/mavlink.h @@ -45,6 +45,8 @@ #include <px4/vehicle_attitude.h> #include <px4/vehicle_local_position.h> #include <px4/vehicle_attitude_setpoint.h> +#include <px4/position_setpoint_triplet.h> +#include <px4/vehicle_force_setpoint.h> #include <px4/offboard_control_mode.h> namespace px4 @@ -64,7 +66,9 @@ protected: ros::Subscriber _v_att_sub; ros::Subscriber _v_local_pos_sub; ros::Publisher _v_att_sp_pub; + ros::Publisher _pos_sp_triplet_pub; ros::Publisher _offboard_control_mode_pub; + ros::Publisher _force_sp_pub; /** * @@ -97,6 +101,13 @@ protected: * */ void handle_msg_set_attitude_target(const mavlink_message_t *mmsg); + /** + * + * Handle SET_POSITION_TARGET_LOCAL_NED mavlink messages + * + * */ + void handle_msg_set_position_target_local_ned(const mavlink_message_t *mmsg); + }; } |