diff options
Diffstat (limited to 'src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp')
| -rw-r--r-- | src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp index 7504091eb..e64ba335d 100644 --- a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp +++ b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp @@ -44,7 +44,7 @@ AttitudeEstimator::AttitudeEstimator() : _n(), - _sub_modelstates(_n.subscribe("joy", 10, &AttitudeEstimator::ModelStatesCallback, this)), + _sub_modelstates(_n.subscribe("gazebo/model_states", 10, &AttitudeEstimator::ModelStatesCallback, this)), _vehicle_attitude_pub(_n.advertise<px4::vehicle_attitude>("vehicle_attitude", 10)) { } @@ -54,6 +54,7 @@ void AttitudeEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstP px4::vehicle_attitude msg_out; /* Fill px4 attitude topic with contents from modelstates topic */ + ROS_INFO("Test x: %.4f", msg->pose[0].orientation.x); //XXX _vehicle_attitude_pub.publish(msg_out); |