Components

Classes
class	px4_ros2::ManualControlInput
	Provides access to manually input control setpoints. More...
struct	px4_ros2::MessageCompatibilityTopic
class	px4_ros2::ModeBase
	Base class for a mode. More...
class	px4_ros2::ModeExecutorBase
	Base class for a mode executor. More...
class	px4_ros2::NodeWithMode< ModeT >
	A ROS2 node which instantiates a control mode and handles its registration with PX4. More...
class	px4_ros2::NodeWithModeExecutor< ModeExecutorT, ModeT >
	A ROS2 node which instantiates a mode executor and its owned mode, and handles their registration with PX4. More...
enum class	px4_ros2::Result {   Success = 0 , Rejected , Interrupted , Timeout ,   Deactivated , ModeFailureOther = 100 }
constexpr const char *	px4_ros2::resultToString (Result result) noexcept
bool	px4_ros2::messageCompatibilityCheck (rclcpp::Node &node, const std::vector< MessageCompatibilityTopic > &messages_to_check, const std::string &topic_namespace_prefix="")
bool	px4_ros2::waitForFMU (rclcpp::Node &node, const rclcpp::Duration &timeout=30s, const std::string &topic_namespace_prefix="")

Detailed Description

Enumeration Type Documentation

Result

enum px4_ros2::Result

strong

Enumerator
Rejected	The request was rejected.
Interrupted	Ctrl-C or another error (from ROS)
Deactivated	Mode or executor got deactivated.

Function Documentation

messageCompatibilityCheck()

bool px4_ros2::messageCompatibilityCheck	(	rclcpp::Node &	node,
		const std::vector< MessageCompatibilityTopic > &	messages_to_check,
		const std::string &	topic_namespace_prefix = ""
	)

Check for a set of messages that the definition matches with the one that PX4 is using.

Returns

true on success

waitForFMU()

bool px4_ros2::waitForFMU	(	rclcpp::Node &	node,
		const rclcpp::Duration &	timeout = 30s,
		const std::string &	topic_namespace_prefix = ""
	)

Wait for a heartbeat/status message from the FMU

Returns

true on success