VehicleInfo Plugin : Ability to request basic vehicle information from mavros #1147
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I don't see any advantages on adding a new plugin for this same purpose - an extension to sys_status is more adequate on this sense.
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I didn't want to mess into the sys_status plugin because I thought that was an "extra" plugin only certains pple would enable. |
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Yes I am ok with the rest but by far the best way would be extending the existing sys_status plugin for the simple fact that all the cb you need are there. |
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| VehicleInfo my_vehicle; | ||
| std::vector<VehicleInfo> vehicles; |
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In that situation it's better to use std::unordered_map<uint16_t,VehicleInfo>
Where uint16_t key = sysid << 8 | compid; (make inline helper).
| uint8_t sysid = 0; | ||
| uint8_t compid = 0; | ||
| std::string mode = ""; | ||
| uint32_t mode_id = 0; |
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Better to store both: base_mode and custom_mode;
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Added base_mode and custom_mode as well as retaining string and id for clarity
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| new_vehicle.system_status = hb.system_status; | ||
| vehicles.push_back(new_vehicle); |
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Thanks ! Always used push_back, I guess I was wrong !
Fixed
| new_vehicle.product_id = apv.product_id; | ||
| new_vehicle.uid = apv.uid; | ||
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| vehicles.push_back(new_vehicle); |
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Also note that you can avoid doubling of assigns by following:
iterator it;
it = vehicles.find(key);
if (!it) {
auto res = vehicles.emplace(key, ...);
it = res.first;
}
ROS_ASSERT(it);
it->sysid = sysid;
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| # Vehicle Info msg | |||
| std_msgs/Header header | |||
| # Request a specific Vehicle Info by sysid/compid | ||
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| uint8_t sysid | ||
| uint8_t compid |
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I think you can merge all get calls into one:
uint8 GET_MY_SYSID = 0
uint8 GET_MY_COMPID = 0
uint8 sysid
uint8 compid
bool get_all
---
bool success
mavros_msgs/VehicleInfo[] vehicles
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Took all comments into consideration and opened a new PR with all of this in the sys_status plugin : #1150 |
As requested by the goodrobots projects by @fnoop : https://github.com/goodrobots
New plugin in mavros_extras with one new msg and 3 services.
Used to request information such as :
uint8_t autopilot = enum_value(MAV_AUTOPILOT::GENERIC); uint8_t type = enum_value(MAV_TYPE::GENERIC); uint8_t sysid = 0; uint8_t compid = 0; std::string mode = ""; uint32_t mode_id = 0; uint8_t system_status = enum_value(MAV_STATE::UNINIT); uint64_t capabilities = 0; uint32_t flight_sw_version = 0; uint32_t middleware_sw_version = 0; uint32_t os_sw_version = 0; uint32_t board_version = 0; uint16_t vendor_id = 0; uint16_t product_id = 0; uint64_t uid = 0;Open to all suggestions :)
Thanks,