18 #include "mavros_msgs/NavControllerOutput.h" 39 PluginBase::initialize(uas_);
57 auto nco_msg = boost::make_shared<mavros_msgs::NavControllerOutput>();
59 nco_msg->nav_roll = nav_controller_output.nav_roll;
60 nco_msg->nav_pitch = nav_controller_output.nav_pitch;
61 nco_msg->nav_bearing = nav_controller_output.nav_bearing;
62 nco_msg->target_bearing = nav_controller_output.target_bearing;
63 nco_msg->wp_dist = nav_controller_output.wp_dist;
64 nco_msg->alt_error = nav_controller_output.alt_error;
65 nco_msg->aspd_error = nav_controller_output.aspd_error;
66 nco_msg->xtrack_error = nav_controller_output.xtrack_error;
Subscriptions get_subscriptions()
Return vector of MAVLink message subscriptions (handlers)
MAVROS Plugin base class.
HandlerInfo make_handler(const mavlink::msgid_t id, void(_C::*fn)(const mavlink::mavlink_message_t *msg, const mavconn::Framing framing))
NavControllerOutputPlugin()
nav controller output plugin.
PluginBase()
Plugin constructor Should not do anything before initialize()
void publish(const boost::shared_ptr< M > &message) const
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
void handle_nav_controller_output(const mavlink::mavlink_message_t *msg, mavlink::common::msg::NAV_CONTROLLER_OUTPUT &nav_controller_output)
std::vector< HandlerInfo > Subscriptions
Subscriptions vector.
void initialize(UAS &uas_)
Plugin initializer.
#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)