From 72a59b1a3a9cec5e4fa8e0bc80c8ce74e19503fb Mon Sep 17 00:00:00 2001 From: ken910606 Date: Tue, 6 May 2025 11:14:56 +0800 Subject: [PATCH] Upload files to 'src/fc_network_adapter/fc_network_adapter' --- .../fc_network_adapter/mavlinkPublish.py | 22 +------------------ 1 file changed, 1 insertion(+), 21 deletions(-) diff --git a/src/fc_network_adapter/fc_network_adapter/mavlinkPublish.py b/src/fc_network_adapter/fc_network_adapter/mavlinkPublish.py index e16ba36..028e3ee 100644 --- a/src/fc_network_adapter/fc_network_adapter/mavlinkPublish.py +++ b/src/fc_network_adapter/fc_network_adapter/mavlinkPublish.py @@ -159,27 +159,7 @@ class mavlink_publisher(): def packEmit_global_rel(cls, emitParams, publisher): mav_msg = emitParams['global_position'] msg = std_msgs.msg.Float64() - msg.data = mav_msg.relative_alt/1e3 - publisher.publish(msg) - pass - - def create_global_vel(self, sysid, component_obj): - target_topic = 'global_position/gp_vel' - try: - _ = component_obj.emitParams['global_position'] - except KeyError: - logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid'])) - return False - topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic) - publisher_ = self.create_publisher(geometry_msgs.msg.Vector3, topic_name, 1) - component_obj.publishers[target_topic] = [publisher_, self.packEmit_global_vel] - - def packEmit_global_vel(cls, emitParams, publisher): - mav_msg = emitParams['global_position'] - msg = geometry_msgs.msg.Vector3() - msg.x = mav_msg.vx/1e2 - msg.y = mav_msg.vy/1e2 - msg.z = mav_msg.vz/1e2 + msg.data = float(mav_msg.relative_alt/1e3) publisher.publish(msg) pass