From ca250d21eb13b9887773422e63ff664447dfe264 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 15 Feb 2015 11:40:07 +0100
Subject: ros: mavlink dummy node: listen to vehicle local position and publish
 to mavlink (LOCAL_POSITION_NED)

---
 src/platforms/ros/nodes/mavlink/mavlink.h | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

(limited to 'src/platforms/ros/nodes/mavlink/mavlink.h')

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);
+
 
 	/**
 	 *
-- 
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