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Updates docs/arduino.md

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Oleg Kalachev
2017-12-06 06:09:36 +03:00
parent 948c9df038
commit 6401107c59
1 changed files with 16 additions and 1 deletions
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docs/arduino.md
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@@ -54,6 +54,7 @@ using namespace mavros_msgs;
ros::NodeHandle nh;
// Объявление сервисов
ros::ServiceClient<Navigate::Request, Navigate::Response> navigate("/navigate");
ros::ServiceClient<SetPosition::Request, SetPosition::Response> setPosition("/set_position");
ros::ServiceClient<SetMode::Request, SetMode::Response> setMode("/mavros/set_mode");
@@ -63,6 +64,7 @@ void setup()
nh.initNode();
// Инициализация сервисов
nh.serviceClient(navigate);
nh.serviceClient(setPosition);
nh.serviceClient(setMode);
@@ -74,6 +76,8 @@ void setup()
// <...>
// Тестовая программа
Navigate::Request nav_req;
Navigate::Response nav_res;
SetPosition::Request sp_req;
SetPosition::Response sp_res;
SetMode::Request sm_req;
@@ -100,13 +104,24 @@ void setup()
sp_req.y = 0;
sp_req.z = 0;
setPosition.call(sp_req, sp_res);
// Полет в точку 1:0:2 по маркерному полю
nh.loginfo("Fly on point");
nav_req.auto_arm = false;
nav_req.x = 1;
nav_req.y = 0;
nav_req.z = 2;
nav_req.frame_id = "aruco_map";
nav_req.update_frame = true;
nav_req.speed = 0.5;
navigate.call(nav_req, nav_res);
// Ждем 5 секунд
delay(5000);
// Посадка
nh.loginfo("Land");
sm_req.custom_mode = "OFFBOARD";
sm_req.custom_mode = "AUTO.LAND";
setMode.call(sm_req, sm_res);
}