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Tools : Added custom ROS-2 service definition for switching drive modes #24705

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merged 1 commit into from
Sep 1, 2023
Merged

Tools : Added custom ROS-2 service definition for switching drive modes #24705

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1 change: 1 addition & 0 deletions Tools/ros2/ardupilot_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
"srv/ArmMotors.srv"
"srv/ModeSwitch.srv"
ADD_LINTER_TESTS
)

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15 changes: 15 additions & 0 deletions Tools/ros2/ardupilot_msgs/srv/ModeSwitch.srv
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@@ -0,0 +1,15 @@

# This service requests the vehicle to switch its drive/flight mode

# mode : Set the value to the drive/flight mode to be used
# Copter : https://mavlink.io/en/messages/ardupilotmega.html#COPTER_MODE
# Rover : https://mavlink.io/en/messages/ardupilotmega.html#ROVER_MODE
# Plane : https://mavlink.io/en/messages/ardupilotmega.html#PLANE_MODE

uint8 mode
---
# status : True if the request for mode switch was successful, False otherwise
# curr_mode : Returns the code for the current drive/flight mode , after the processing the request

bool status
uint8 curr_mode