Add class "PubInfo" to publish drone's formation type and mission.

2022-12-26 20:47:18 +08:00
parent 4bd113c30c
commit 542ef22120
3 changed files with 67 additions and 0 deletions
@@ -0,0 +1,22 @@
+#include "class_model/PubInfo.h"
+
+PubInfoClass::PubInfoClass():node_handle_("~"){
+
+    std::string ros_namespace;
+    if (!node_handle_.hasParam("namespace"))
+	{
+	}else{
+		node_handle_.getParam("namespace", ros_namespace);
+	}
+    PubInfo = node_handle_.advertise<diagnostic_msgs::KeyValue>(ros_namespace+"/Flight_Information_reciver",100);
+
+}
+
+PubInfoClass::~PubInfoClass() { ros::shutdown(); }
+
+void PubInfoClass::pub_info(INFO msg){
+    info.key = msg.type;           //key == drone's formation
+    info.value = msg.mission;      //value == drone's mission
+    PubInfo.publish(info);
+}
+