PX4 ROS 2 Interface Library
Library to interface with PX4 from a companion computer using ROS 2
vehicle_status.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_status.hpp>
9 #include <px4_ros2/common/context.hpp>
10 #include <px4_ros2/utils/subscription.hpp>
11 #include <px4_ros2/utils/message_version.hpp>
12 
13 namespace px4_ros2
14 {
24 class VehicleStatus : public Subscription<px4_msgs::msg::VehicleStatus>
25 {
26 public:
27  explicit VehicleStatus(Context & context)
28  : Subscription<px4_msgs::msg::VehicleStatus>(context,
29  "fmu/out/vehicle_status" + px4_ros2::getMessageNameVersion<px4_msgs::msg::VehicleStatus>()) {}
30 
36  bool armed() const
37  {
38  return last().arming_state == px4_msgs::msg::VehicleStatus::ARMING_STATE_ARMED;
39  }
40 
47  uint8_t navState() const
48  {
49  return last().nav_state;
50  }
51 
52 };
53 
55 } /* namespace px4_ros2 */
px4_ros2::Context
Definition: context.hpp:20
px4_ros2::Subscription
Provides a subscription to arbitrary ROS topics.
Definition: subscription.hpp:23
px4_ros2::Subscription< px4_msgs::msg::VehicleStatus >::last
const px4_msgs::msg::VehicleStatus & last() const
Get the last-received message.
Definition: subscription.hpp:58
px4_ros2::VehicleStatus
Provides access to the vehicle's status.
Definition: vehicle_status.hpp:25
px4_ros2::VehicleStatus::navState
uint8_t navState() const
Get the vehicle's current active flight mode.
Definition: vehicle_status.hpp:47
px4_ros2::VehicleStatus::armed
bool armed() const
Get the vehicle's arming status.
Definition: vehicle_status.hpp:36