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mobile rc: publish initial /state_latched

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This commit is contained in:
Oleg Kalachev
2018-02-21 21:40:40 +03:00
parent 74d1eeca24
commit f7b47afae7
1 changed files with 4 additions and 2 deletions
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6
clever/src/rc.cpp
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@@ -55,8 +55,6 @@ private:
{
ROS_INFO("State timeout");
mavros_msgs::State unknown_state;
unknown_state.connected = true;
unknown_state.mode = "UNKNOWN";
state_pub.publish(unknown_state);
state_msg = nullptr;
}
@@ -66,6 +64,10 @@ private:
state_sub = nh.subscribe("mavros/state", 1, &RC::handleState, this);
state_pub = nh.advertise<mavros_msgs::State>("state_latched", 1, true);
state_timeout_timer = nh.createTimer(ros::Duration(0), &RC::stateTimedOut, this, true, false);
// Publish initial state
mavros_msgs::State unknown_state;
state_pub.publish(unknown_state);
}
int createSocket(int port)