diff options
Diffstat (limited to 'src/platforms/ros/nodes/manual_input/manual_input.cpp')
-rw-r--r-- | src/platforms/ros/nodes/manual_input/manual_input.cpp | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/platforms/ros/nodes/manual_input/manual_input.cpp b/src/platforms/ros/nodes/manual_input/manual_input.cpp index 2ee2dadbc..b125bb180 100644 --- a/src/platforms/ros/nodes/manual_input/manual_input.cpp +++ b/src/platforms/ros/nodes/manual_input/manual_input.cpp @@ -41,10 +41,11 @@ #include "manual_input.h" #include <px4/manual_control_setpoint.h> +#include <platforms/px4_middleware.h> ManualInput::ManualInput() : _n(), - _sub_joy(_n.subscribe("joy", 10, &ManualInput::JoyCallback, this)), + joy_sub(_n.subscribe("joy", 10, &ManualInput::JoyCallback, this)), _man_ctrl_sp_pub(_n.advertise<px4::manual_control_setpoint>("manual_control_setpoint", 10)) { /* Load parameters, default values work for Microsoft XBox Controller */ @@ -87,6 +88,8 @@ void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg) msg_out.acro_switch = 0; msg_out.offboard_switch = 0; + msg_out.timestamp = px4::get_time_micros(); + _man_ctrl_sp_pub.publish(msg_out); } @@ -99,8 +102,6 @@ int main(int argc, char **argv) { ros::init(argc, argv, "manual_input"); ManualInput m; - ros::spin(); - return 0; } |