px4_ros2::VehicleCommandSender Class Reference

Sends a VehicleCommand and waits synchronously for an ACK from PX4. More...

#include <px4_ros2/utils/vehicle_command_sender.hpp>

Public Member Functions
	VehicleCommandSender (rclcpp::Node &node, std::string topic_namespace_prefix, const std::string &command_topic="fmu/in/vehicle_command")
Result	sendCommandSync (px4_msgs::msg::VehicleCommand cmd)
	Publish cmd and wait for a matching VehicleCommandAck.

Detailed Description

Sends a VehicleCommand and waits synchronously for an ACK from PX4.

This helper can be reused by any component that needs to send one-shot vehicle commands with acknowledgement (e.g. HomePositionSetter, ModeExecutorBase).

Constructor & Destructor Documentation

VehicleCommandSender()

px4_ros2::VehicleCommandSender::VehicleCommandSender ( rclcpp::Node &  node, std::string  topic_namespace_prefix, const std::string &  command_topic = "fmu/in/vehicle_command"  )

explicit

Parameters

node	ROS 2 node used for creating publishers/subscriptions
topic_namespace_prefix	topic namespace (e.g. "" or "/my_ns/")
command_topic	command topic name without prefix/version suffix (default: "fmu/in/vehicle_command")

Member Function Documentation

sendCommandSync()

Result px4_ros2::VehicleCommandSender::sendCommandSync

(

px4_msgs::msg::VehicleCommand

cmd

)

Publish cmd and wait for a matching VehicleCommandAck.

Retries up to 3 times with a 300 ms timeout per attempt. The ACK is matched on (command, target_component == cmd.source_component).

Returns

Result::Success on ACK accepted, Result::Rejected on ACK rejected, Result::Timeout if no ACK is received.

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The documentation for this class was generated from the following file:

• px4_ros2_cpp/include/px4_ros2/utils/vehicle_command_sender.hpp