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commander dummy node: publish param update at low freq to make other nodes update their params

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This commit is contained in:
Thomas Gubler
2015-01-02 09:08:49 +01:00
parent 9586a8f5b1
commit 92729b3020
2 changed files with 13 additions and 1 deletions
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10
src/platforms/ros/nodes/commander/commander.cpp
View File

@@ -51,7 +51,9 @@ Commander::Commander() :
_man_ctrl_sp_sub(_n.subscribe("manual_control_setpoint", 10, &Commander::ManualControlInputCallback, this)),
_vehicle_control_mode_pub(_n.advertise<px4::vehicle_control_mode>("vehicle_control_mode", 10)),
_actuator_armed_pub(_n.advertise<px4::actuator_armed>("actuator_armed", 10)),
_vehicle_status_pub(_n.advertise<px4::vehicle_status>("vehicle_status", 10))
_vehicle_status_pub(_n.advertise<px4::vehicle_status>("vehicle_status", 10)),
_parameter_update_pub(_n.advertise<px4::parameter_update>("parameter_update", 10)),
_msg_parameter_update()
{
}
@@ -85,6 +87,12 @@ void Commander::ManualControlInputCallback(const px4::manual_control_setpointCon
_vehicle_control_mode_pub.publish(msg_vehicle_control_mode);
_actuator_armed_pub.publish(msg_actuator_armed);
_vehicle_status_pub.publish(msg_vehicle_status);
/* Fill parameter update */
if (px4::get_time_micros() - _msg_parameter_update.timestamp > 1e6) {
_msg_parameter_update.timestamp = px4::get_time_micros();
_parameter_update_pub.publish(_msg_parameter_update);
}
}
int main(int argc, char **argv)

4
src/platforms/ros/nodes/commander/commander.h
View File

@@ -40,6 +40,7 @@
#include "ros/ros.h"
#include <px4/manual_control_setpoint.h>
#include <px4/parameter_update.h>
class Commander {
public:
@@ -58,5 +59,8 @@ protected:
ros::Publisher _vehicle_control_mode_pub;
ros::Publisher _actuator_armed_pub;
ros::Publisher _vehicle_status_pub;
ros::Publisher _parameter_update_pub;
px4::parameter_update _msg_parameter_update;
};