PX4 常用服务

上/解锁服务

1. 消息名称：mavros/cmd/arming
2. 类型：mavros_msgs::CommandBool
3. 头文件：mavros_msgs/CommandBool.h

请求参数在mavros github的mavros/ mavros_msgs / srv / CommandBool.srv里面

# Common type for switch commands

bool value
---
bool success
uint8 result

示例：

---

ros::ServiceClient px4_arming_client = nh.serviceClient<mavros_msgs::CommandBool>("/uav" + std::to_string(uav_id) + "/mavros/cmd/arming");


mavros_msgs::CommandBool arm_cmd;
arm_cmd.request.value = true;
px4_arming_client.call(arm_cmd);

 if (arm_cmd.response.success)
  {
    cout << GREEN << node_name << " vehicle disarming, success!" << TAIL << endl;
  }
  else
  {
     cout << RED << node_name << " vehicle disarming, fail!" << TAIL << endl;
  }