altitude.cpp

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/*
 * Copyright 2015 Andreas Antener <andreas@uaventure.com>.
 *
 * This file is part of the mavros package and subject to the license terms
 * in the top-level LICENSE file of the mavros repository.
 * https://github.com/mavlink/mavros/tree/master/LICENSE.md
 */

#include <mavros/mavros_plugin.h>

#include <mavros_msgs/Altitude.h>

namespace mavros {
namespace std_plugins {
class AltitudePlugin : public plugin::PluginBase {
public:
        AltitudePlugin() : PluginBase(),
                nh("~")
        { }

        void initialize(UAS &uas_) override
        {
                PluginBase::initialize(uas_);

                nh.param<std::string>("frame_id", frame_id, "map");
                altitude_pub = nh.advertise<mavros_msgs::Altitude>("altitude", 10);
        }

        Subscriptions get_subscriptions() override
        {
                return {
                        make_handler(&AltitudePlugin::handle_altitude),
                };
        }

private:
        ros::NodeHandle nh;
        std::string frame_id;

        ros::Publisher altitude_pub;

        void handle_altitude(const mavlink::mavlink_message_t *msg, mavlink::common::msg::ALTITUDE &altitude)
        {
                auto ros_msg = boost::make_shared<mavros_msgs::Altitude>();
                ros_msg->header = m_uas->synchronized_header(frame_id, altitude.time_usec);

                ros_msg->monotonic = altitude.altitude_monotonic;
                ros_msg->amsl = altitude.altitude_amsl;
                ros_msg->local = altitude.altitude_local;
                ros_msg->relative = altitude.altitude_relative;
                ros_msg->terrain = altitude.altitude_terrain;
                ros_msg->bottom_clearance = altitude.bottom_clearance;

                altitude_pub.publish(ros_msg);
        }
};
}       // namespace std_plugins
}       // namespace mavros

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(mavros::std_plugins::AltitudePlugin, mavros::plugin::PluginBase)