vehicle_command_sender.hpp

/****************************************************************************
 * Copyright (c) 2025 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <px4_msgs/msg/vehicle_command.hpp>
#include <px4_msgs/msg/vehicle_command_ack.hpp>
#include <px4_ros2/components/mode.hpp>
#include <px4_ros2/utils/message_version.hpp>
#include <rclcpp/rclcpp.hpp>
#include <string>
 
namespace px4_ros2 {
class VehicleCommandSender {
 public:
  explicit VehicleCommandSender(rclcpp::Node& node, std::string topic_namespace_prefix,
                                const std::string& command_topic = "fmu/in/vehicle_command");
 
  Result sendCommandSync(px4_msgs::msg::VehicleCommand cmd);
 
 private:
  rclcpp::Node& _node;
  std::string _topic_namespace_prefix;
  rclcpp::Publisher<px4_msgs::msg::VehicleCommand>::SharedPtr _vehicle_command_pub;
};
 
}  // namespace px4_ros2