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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-15 11:40:07 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-28 18:25:35 +0100 |
| commit | ca250d21eb13b9887773422e63ff664447dfe264 (patch) | |
| tree | 8ef0c92eff61140be1826072cf3fda4c5ff6556a /src/platforms/ros/nodes/mavlink/mavlink.h | |
| parent | 8d36305f8b5d9393003f6074327ba279c98622ce (diff) | |
| download | px4-firmware-ca250d21eb13b9887773422e63ff664447dfe264.tar.gz px4-firmware-ca250d21eb13b9887773422e63ff664447dfe264.tar.bz2 px4-firmware-ca250d21eb13b9887773422e63ff664447dfe264.zip | |
ros: mavlink dummy node: listen to vehicle local position and publish to mavlink (LOCAL_POSITION_NED)
Diffstat (limited to 'src/platforms/ros/nodes/mavlink/mavlink.h')
| -rw-r--r-- | src/platforms/ros/nodes/mavlink/mavlink.h | 12 |
1 files changed, 11 insertions, 1 deletions
diff --git a/src/platforms/ros/nodes/mavlink/mavlink.h b/src/platforms/ros/nodes/mavlink/mavlink.h index 2ee383b4f..a246af4a4 100644 --- a/src/platforms/ros/nodes/mavlink/mavlink.h +++ b/src/platforms/ros/nodes/mavlink/mavlink.h @@ -43,6 +43,7 @@ #include "ros/ros.h" #include <mavconn/interface.h> #include <px4/vehicle_attitude.h> +#include <px4/vehicle_local_position.h> #include <px4/vehicle_attitude_setpoint.h> #include <px4/offboard_control_mode.h> @@ -61,17 +62,26 @@ protected: ros::NodeHandle _n; mavconn::MAVConnInterface::Ptr _link; ros::Subscriber _v_att_sub; + ros::Subscriber _v_local_pos_sub; ros::Publisher _v_att_sp_pub; ros::Publisher _offboard_control_mode_pub; /** * * Simulates output of attitude data from the FCU - * Equivalent to the mavlink stream ATTITUDE + * Equivalent to the mavlink stream ATTITUDE_QUATERNION * * */ void VehicleAttitudeCallback(const vehicle_attitudeConstPtr &msg); + /** + * + * Simulates output of local position data from the FCU + * Equivalent to the mavlink stream LOCAL_POSITION_NED + * + * */ + void VehicleLocalPositionCallback(const vehicle_local_positionConstPtr &msg); + /** * |