position.hpp

/****************************************************************************
 * Copyright (c) 2023 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <Eigen/Eigen>
#include <px4_msgs/msg/rover_position_setpoint.hpp>
#include <px4_ros2/common/setpoint_base.hpp>
 
namespace px4_ros2 {
class RoverPositionSetpointType : public SetpointBase {
 public:
  explicit RoverPositionSetpointType(Context& context);
 
  ~RoverPositionSetpointType() override = default;
 
  SetpointType getSetpointType() override
  {
    return px4_msgs::msg::SetpointConfig::TYPE_ROVER_POSITION;
  }
 
  float desiredUpdateRateHz() override { return 30.f; }
 
  void update(const Eigen::Vector2f& position_ned,
              const std::optional<Eigen::Vector2f>& start_ned = {},
              std::optional<float> cruising_speed = {}, std::optional<float> arrival_speed = {},
              std::optional<float> yaw = {});
 
 private:
  rclcpp::Node& _node;
  rclcpp::Publisher<px4_msgs::msg::RoverPositionSetpoint>::SharedPtr _rover_position_setpoint_pub;
};
 
} /* namespace px4_ros2 */