Bugfix/update map origin with home position #1892
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
vooon
requested changes
Aug 29, 2023
| @@ -89,7 +90,7 @@ class GlobalPositionPlugin : public plugin::PluginBase { | |||
|
|
|||
| // home position subscriber to set "map" origin | |||
| // TODO use UAS | |||
| hp_sub = gp_nh.subscribe("home", 10, &GlobalPositionPlugin::home_position_cb, this); | |||
| hp_sub = nh.subscribe("/mavros/home_position/home", 10, &GlobalPositionPlugin::home_position_cb, this); | |||
There was a problem hiding this comment.
No! Node mustn't use absolute paths.
There was a problem hiding this comment.
The Mavlink HOMEPOSITION message is handled by the home_position.cpp plugin.
This gets published in the topic /mavros/home_position/home.
Is it desired to create a handler in the global_position.cpp plugin for the same Mavlink topic?
There was a problem hiding this comment.
NodeHandle priv_nh("~");
sub = priv_nh.subscribe("home_position/home", ...);There was a problem hiding this comment.
Or even:
NodeHandle hp_nh("~home_position");
sub = hp_nh.subscribe("home", ...);
| // GPS_STATUS: there no corresponding ROS message, and it is not supported by APM | ||
| make_handler(&GlobalPositionPlugin::handle_global_position_int), | ||
| make_handler(&GlobalPositionPlugin::handle_gps_global_origin), | ||
| make_handler(&GlobalPositionPlugin::handle_lpned_system_global_offset) |
There was a problem hiding this comment.
Done. Style was changed by uncrustify
This reverts commit f1387c7.
vooon
added a commit
that referenced
this pull request
Sep 9, 2023
* master: 1.17.0 update changelog cog: regenerate all Bugfix/update map origin with home position (#1892) mavros: Remove extra ';' mavros_extras: Fix some init order warnings Suppress warnings from included headers 1.16.0 update changelog made it such that the gp_origin topic published latched. use hpp instead of deprecated .h pluginlib headers
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Updates the
map_originin the callbackhome_position_cbafter new home has been updated from the FMU over the mavtlink message HOME_POSITION and in the ros topic/mavros/home_position/home