wait_for_fmu.hpp

/****************************************************************************
 * Copyright (c) 2023 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
using namespace std::chrono_literals;  // NOLINT
 
namespace px4_ros2 {
 
bool waitForFMU(rclcpp::Node& node, const rclcpp::Duration& discovery_timeout,
                const rclcpp::Duration& heartbeat_timeout,
                const std::string& topic_namespace_prefix = "");
 
[[deprecated(
    "Use waitForFMU(node, discovery_timeout, heartbeat_timeout, prefix) "
    "for finer control over discovery vs heartbeat timeouts.")]]
bool waitForFMU(rclcpp::Node& node, const rclcpp::Duration& timeout = 30s,
                const std::string& topic_namespace_prefix = "");
 
}  // namespace px4_ros2