peripheral_actuators.hpp

/****************************************************************************
 * Copyright (c) 2023 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <px4_msgs/msg/vehicle_command.hpp>
#include <Eigen/Core>
 
#include <px4_ros2/common/setpoint_base.hpp>
 
namespace px4_ros2
{
class PeripheralActuatorControls
{
public:
  static constexpr int kNumActuators = 6;
 
  explicit PeripheralActuatorControls(Context & context);
 
  void set(const Eigen::Matrix<float, kNumActuators, 1> & values);
 
  void set(float value, unsigned index = 0);
 
private:
  rclcpp::Node & _node;
  rclcpp::Publisher<px4_msgs::msg::VehicleCommand>::SharedPtr _vehicle_command_pub;
  rclcpp::Time _last_update{};
};
 
} /* namespace px4_ros2 */