e.g.
对节点名为
/dji_sdk/sdk_control_authority (dji_sdk/SDKControlAuthority)
在wiki上查到的说明如下:
- request/release the control authority
- Usage:
Request uint8 control_enable 1--request control 0--release control Response bool result true--succeed false--failed
我们可以得知:这是一个用于申请UAV控制权限的服务。类型为:<dji_sdk/SDKControlAuthority>
通过发送一个类型为uint8的请求,能得到response (bool型)。如果返回的response为true即成功
具体申请如下:
先发布声明这个请求发布的topic名称
ros::ServiceClient sdk_ctrl_authority_service = nh.serviceClient<dji_sdk::SDKControlAuthority> ("dji_sdk/sdk_control_authority");//GET authority
然后call your request
dji_sdk::SDKControlAuthority authority;//类型在wiki上
authority.request.control_enable=1;//request.control_enable 也是在表格里上有描述
sdk_ctrl_authority_service.call(authority);//call出request