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23 lines
589 B
C++
23 lines
589 B
C++
3 years ago
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#include "class_model/PubInfo.h"
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PubInfoClass::PubInfoClass():node_handle_("~"){
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std::string ros_namespace;
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if (!node_handle_.hasParam("namespace"))
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{
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}else{
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node_handle_.getParam("namespace", ros_namespace);
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}
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PubInfo = node_handle_.advertise<diagnostic_msgs::KeyValue>(ros_namespace+"/Flight_Information_reciver",100);
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}
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PubInfoClass::~PubInfoClass() { ros::shutdown(); }
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void PubInfoClass::pub_info(INFO msg){
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info.key = msg.type; //key == drone's formation
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info.value = msg.mission; //value == drone's mission
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PubInfo.publish(info);
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}
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