position.hpp

/****************************************************************************
 * Copyright (c) 2023 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <px4_msgs/msg/rover_position_setpoint.hpp>
#include <Eigen/Eigen>
 
#include <px4_ros2/common/setpoint_base.hpp>
 
namespace px4_ros2
{
class RoverPositionSetpointType : public SetpointBase
{
public:
  explicit RoverPositionSetpointType(Context & context);
 
  ~RoverPositionSetpointType() override = default;
 
  Configuration getConfiguration() override;
  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 */