VehicleInfo : add srv into sys_status plugin to request vehicule basic info #1150
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vooon
approved these changes
Jan 3, 2019
| if(req.get_all){ | ||
| //Send all vehicles | ||
| for (auto &got : vehicles) { | ||
| res.vehicles.emplace_back(got.second); |
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Perhaps here no difference between push_back and emplace_back.
Microoptimization - add res.vehicles.reserve(vehicles.length()).
| it = res.first; | ||
| } | ||
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| ROS_ASSERT(it != vehicles.end()); |
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That search & create may be moved to common function.
| uint8 base_mode | ||
| uint32 custom_mode | ||
| string mode #MAV_MODE string | ||
| uint32 mode_id #MAV_MODE number |
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I don't sure that this field is needed.
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LGTM, i will do some changes myself. |
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Service allow to request :
Took all comment from #1147 and made a much more elegant solution.
I used an unordered_map with key & mavros_msgs::VehicleInfo directly rather than defining a new class/struc VehicleInfo and a to_msg() function like in the waypoint plugin.
Thanks !