PX4 ROS 2 Interface Library
Library to interface with PX4 from a companion computer using ROS 2
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land_detected.hpp
1/****************************************************************************
2 * Copyright (c) 2023-2024 PX4 Development Team.
3 * SPDX-License-Identifier: BSD-3-Clause
4 ****************************************************************************/
5
6#pragma once
7
8#include <px4_msgs/msg/vehicle_land_detected.hpp>
9#include <px4_ros2/common/context.hpp>
10#include <px4_ros2/utils/subscription.hpp>
11#include <px4_ros2/utils/message_version.hpp>
12
13namespace px4_ros2
14{
24class LandDetected : public Subscription<px4_msgs::msg::VehicleLandDetected>
25{
26public:
27 explicit LandDetected(Context & context)
28 : Subscription<px4_msgs::msg::VehicleLandDetected>(context,
29 "fmu/out/vehicle_land_detected" +
30 px4_ros2::getMessageNameVersion<px4_msgs::msg::VehicleLandDetected>()) {}
31
37 bool landed() const
38 {
39 return last().landed;
40 }
41
42};
43
45} /* namespace px4_ros2 */
px4_ros2::Context
Definition context.hpp:20
px4_ros2::LandDetected
Provides access to the vehicle's status.
Definition land_detected.hpp:25
px4_ros2::LandDetected::landed
bool landed() const
Check if vehicle is landed on the ground.
Definition land_detected.hpp:37
px4_ros2::Subscription
Provides a subscription to arbitrary ROS topics.
Definition subscription.hpp:23
px4_ros2::Subscription< px4_msgs::msg::VehicleLandDetected >::last
const px4_msgs::msg::VehicleLandDetected & last() const
Get the last-received message.
Definition subscription.hpp:58