From 022756732e5e56504056ccb3002c8bf3557dec10 Mon Sep 17 00:00:00 2001 From: Jaeyoung Lim Date: Wed, 21 Aug 2024 09:44:14 +0200 Subject: [PATCH] Add ifdefs for airspeed gz msgs --- src/modules/simulation/gz_bridge/GZBridge.cpp | 5 +++++ src/modules/simulation/gz_bridge/GZBridge.hpp | 3 ++- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp index 6b4042da8b..112e3da969 100644 --- a/src/modules/simulation/gz_bridge/GZBridge.cpp +++ b/src/modules/simulation/gz_bridge/GZBridge.cpp @@ -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) { diff --git a/src/modules/simulation/gz_bridge/GZBridge.hpp b/src/modules/simulation/gz_bridge/GZBridge.hpp index 824c7d4716..ae602167d5 100644 --- a/src/modules/simulation/gz_bridge/GZBridge.hpp +++ b/src/modules/simulation/gz_bridge/GZBridge.hpp @@ -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);