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- changes to allow for multi-uav support

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This commit is contained in:
Tarek Taha
2015-09-16 16:56:52 +04:00
parent 612e3b49ef
commit 24feea6346
8 changed files with 74 additions and 5 deletions
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src/platforms/ros/nodes/mavlink/mavlink.cpp
+6 -3
View File
@@ -46,7 +46,7 @@
using namespace px4;
Mavlink::Mavlink() :
Mavlink::Mavlink(std::string mavlink_fcu_url) :
_n(),
_v_att_sub(_n.subscribe("vehicle_attitude", 1, &Mavlink::VehicleAttitudeCallback, this)),
_v_local_pos_sub(_n.subscribe("vehicle_local_position", 1, &Mavlink::VehicleLocalPositionCallback, this)),
@@ -55,7 +55,7 @@ Mavlink::Mavlink() :
_offboard_control_mode_pub(_n.advertise<offboard_control_mode>("offboard_control_mode", 1)),
_force_sp_pub(_n.advertise<vehicle_force_setpoint>("vehicle_force_setpoint", 1))
{
_link = mavconn::MAVConnInterface::open_url("udp://localhost:14565@localhost:14560");
_link = mavconn::MAVConnInterface::open_url(mavlink_fcu_url);
_link->message_received.connect(boost::bind(&Mavlink::handle_msg, this, _1, _2, _3));
_att_sp = {};
_offboard_control_mode = {};
@@ -64,7 +64,10 @@ Mavlink::Mavlink() :
int main(int argc, char **argv)
{
ros::init(argc, argv, "mavlink");
Mavlink m;
ros::NodeHandle privateNh("~");
std::string mavlink_fcu_url;
privateNh.param<std::string>("mavlink_fcu_url", mavlink_fcu_url, std::string("udp://localhost:14565@localhost:14560"));
Mavlink m(mavlink_fcu_url);
ros::spin();
return 0;
}
src/platforms/ros/nodes/mavlink/mavlink.h
+1 -1
View File
@@ -55,7 +55,7 @@ namespace px4
class Mavlink
{
public:
Mavlink();
Mavlink(std::string mavlink_fcu_url);
~Mavlink() {}