ROS2下的px4 offboard示例代码变了

ROS 2 Offboard 控制示例 | PX4 自动驾驶用户指南 (main)PX4 is the Professional Autopilot. Developed by world-class developers from industry and academia, and supported by an active world wide community, it powers all kinds of vehicles from racing and cargo drones through to ground vehicles and submersibles.https://docs.px4.io/main/zh/ros/ros2_offboard_control.html

px4_ros_com/src/examples/offboard/offboard_control.cpp at main · PX4/px4_ros_com · GitHubROS2/ROS interface with PX4 through a Fast-RTPS bridge - px4_ros_com/src/examples/offboard/offboard_control.cpp at main · PX4/px4_ros_comhttps://github.com/PX4/px4_ros_com/blob/main/src/examples/offboard/offboard_control.cpp

它这似乎发出的也不是mavros话题了 

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/**
 * @brief Offboard control example
 * @file offboard_control.cpp
 * @addtogroup examples
 * @author Mickey Cowden <info@cowden.tech>
 * @author Nuno Marques <nuno.marques@dronesolutions.io>
 */

#include <px4_msgs/msg/offboard_control_mode.hpp>
#include <px4_msgs/msg/trajectory_setpoint.hpp>
#include <px4_msgs/msg/vehicle_command.hpp>
#include <px4_msgs/msg/vehicle_control_mode.hpp>
#include <rclcpp/rclcpp.hpp>
#include <stdint.h>

#include <chrono>
#include <iostream>

using namespace std::chrono;
using namespace std::chrono_literals;
using namespace px4_msgs::msg;

class OffboardControl : public rclcpp::Node
{
public:
	OffboardControl() : Node("offboard_control")
	{

		offboard_control_mode_publisher_ = this->create_publisher<OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
		trajectory_setpoint_publisher_ = this->create_publisher<TrajectorySetpoint>("/fmu/in/trajectory_setpoint", 10);
		vehicle_command_publisher_ = this->create_publisher<VehicleCommand>("/fmu/in/vehicle_command", 10);

		offboard_setpoint_counter_ = 0;

		auto timer_callback = [this]() -> void {

			if (offboard_setpoint_counter_ == 10) {
				// Change to Offboard mode after 10 setpoints
				this->publish_vehicle_command(VehicleCommand::VEHICLE_CMD_DO_SET_MODE, 1, 6);

				// Arm the vehicle
				this->arm();
			}

			// offboard_control_mode needs to be paired with trajectory_setpoint
			publish_offboard_control_mode();
			publish_trajectory_setpoint();

			// stop the counter after reaching 11
			if (offboard_setpoint_counter_ < 11) {
				offboard_setpoint_counter_++;
			}
		};
		timer_ = this->create_wall_timer(100ms, timer_callback);
	}

	void arm();
	void disarm();

private:
	rclcpp::TimerBase::SharedPtr timer_;

	rclcpp::Publisher<OffboardControlMode>::SharedPtr offboard_control_mode_publisher_;
	rclcpp::Publisher<TrajectorySetpoint>::SharedPtr trajectory_setpoint_publisher_;
	rclcpp::Publisher<VehicleCommand>::SharedPtr vehicle_command_publisher_;

	std::atomic<uint64_t> timestamp_;   //!< common synced timestamped

	uint64_t offboard_setpoint_counter_;   //!< counter for the number of setpoints sent

	void publish_offboard_control_mode();
	void publish_trajectory_setpoint();
	void publish_vehicle_command(uint16_t command, float param1 = 0.0, float param2 = 0.0);
};

/**
 * @brief Send a command to Arm the vehicle
 */
void OffboardControl::arm()
{
	publish_vehicle_command(VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 1.0);

	RCLCPP_INFO(this->get_logger(), "Arm command send");
}

/**
 * @brief Send a command to Disarm the vehicle
 */
void OffboardControl::disarm()
{
	publish_vehicle_command(VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0);

	RCLCPP_INFO(this->get_logger(), "Disarm command send");
}

/**
 * @brief Publish the offboard control mode.
 *        For this example, only position and altitude controls are active.
 */
void OffboardControl::publish_offboard_control_mode()
{
	OffboardControlMode msg{};
	msg.position = true;
	msg.velocity = false;
	msg.acceleration = false;
	msg.attitude = false;
	msg.body_rate = false;
	msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
	offboard_control_mode_publisher_->publish(msg);
}

/**
 * @brief Publish a trajectory setpoint
 *        For this example, it sends a trajectory setpoint to make the
 *        vehicle hover at 5 meters with a yaw angle of 180 degrees.
 */
void OffboardControl::publish_trajectory_setpoint()
{
	TrajectorySetpoint msg{};
	msg.position = {0.0, 0.0, -5.0};
	msg.yaw = -3.14; // [-PI:PI]
	msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
	trajectory_setpoint_publisher_->publish(msg);
}

/**
 * @brief Publish vehicle commands
 * @param command   Command code (matches VehicleCommand and MAVLink MAV_CMD codes)
 * @param param1    Command parameter 1
 * @param param2    Command parameter 2
 */
void OffboardControl::publish_vehicle_command(uint16_t command, float param1, float param2)
{
	VehicleCommand msg{};
	msg.param1 = param1;
	msg.param2 = param2;
	msg.command = command;
	msg.target_system = 1;
	msg.target_component = 1;
	msg.source_system = 1;
	msg.source_component = 1;
	msg.from_external = true;
	msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
	vehicle_command_publisher_->publish(msg);
}

int main(int argc, char *argv[])
{
	std::cout << "Starting offboard control node..." << std::endl;
	setvbuf(stdout, NULL, _IONBF, BUFSIZ);
	rclcpp::init(argc, argv);
	rclcpp::spin(std::make_shared<OffboardControl>());

	rclcpp::shutdown();
	return 0;
}