land.cpp

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/*
Parker Conroy
Algorithmic Robotics Lab @ University of Utah

This program lands the ardrone. 
It is intended as a simple example for those starting with the AR Drone platform.
*/

#include <ros/ros.h>
#include <std_msgs/Empty.h>

        std_msgs::Empty emp_msg;
        

int main(int argc, char** argv)
{

        ROS_INFO("Landing ARdrone");
        ros::init(argc, argv,"ARDrone_test");
    ros::NodeHandle node;
    ros::Rate loop_rate(50);
        ros::Publisher pub_empty;

        pub_empty = node.advertise<std_msgs::Empty>("/ardrone/land", 1); /* Message queue length is just 1 */
        

        while (ros::ok()) {
                         double time_start=(double)ros::Time::now().toSec();
                        while ((double)ros::Time::now().toSec()< time_start+5.0){
                pub_empty.publish(emp_msg); //launches the droe


                        ros::spinOnce();
                        loop_rate.sleep();
}
ROS_INFO("ARdrone landed");
exit(0);
                        }//ros::ok

}//main