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Add ifdefs for airspeed gz msgs

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This commit is contained in:
Jaeyoung Lim 2024-08-21 09:44:14 +02:00
parent 00e783766a
commit 022756732e
2 changed files with 7 additions and 1 deletions
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5
src/modules/simulation/gz_bridge/GZBridge.cpp
View File

@ -206,12 +206,15 @@ int GZBridge::init()
// Airspeed: /world/$WORLD/model/$MODEL/link/base_link/sensor/airspeed_sensor/air_speed
std::string airspeed_topic = "/world/" + _world_name + "/model/" + _model_name +
"/link/base_link/sensor/airspeed_sensor/air_speed";
#if 0
if (!_node.Subscribe(airspeed_topic, &GZBridge::airspeedCallback, this)) {
PX4_ERR("failed to subscribe to %s", airspeed_topic.c_str());
return PX4_ERROR;
}
#endif
// Air pressure: /world/$WORLD/model/$MODEL/link/base_link/sensor/air_pressure_sensor/air_pressure
std::string air_pressure_topic = "/world/" + _world_name + "/model/" + _model_name +
"/link/base_link/sensor/air_pressure_sensor/air_pressure";
@ -424,6 +427,7 @@ void GZBridge::barometerCallback(const gz::msgs::FluidPressure &air_pressure)
pthread_mutex_unlock(&_node_mutex);
}
#if 0
void GZBridge::airspeedCallback(const gz::msgs::AirSpeed &air_speed)
{
if (hrt_absolute_time() == 0) {
@ -449,6 +453,7 @@ void GZBridge::airspeedCallback(const gz::msgs::AirSpeed &air_speed)
pthread_mutex_unlock(&_node_mutex);
}
#endif
void GZBridge::imuCallback(const gz::msgs::IMU &imu)
{

3
src/modules/simulation/gz_bridge/GZBridge.hpp
View File

@ -101,8 +101,9 @@ private:
bool updateClock(const uint64_t tv_sec, const uint64_t tv_nsec);
void clockCallback(const gz::msgs::Clock &clock);
#if 0
void airspeedCallback(const gz::msgs::AirSpeed &air_speed);
#endif
void barometerCallback(const gz::msgs::FluidPressure &air_pressure);
void imuCallback(const gz::msgs::IMU &imu);
void poseInfoCallback(const gz::msgs::Pose_V &pose);