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(tested) 將 commandLong 的 ros2 service 包裝為一個函式庫 changeMode 並附上一個臨時範例

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chiyu1468
2026-03-27 16:00:45 +08:00
parent 60d6eba8cd
commit e4585134cc
5 changed files with 344 additions and 1 deletions
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src/unitdev02/unitdev02/devnote.txt
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@@ -32,9 +32,13 @@ ros2 topic echo
mavproxy.py --master=tcp:127.0.0.1:5790 --out=udp:127.0.0.1:14560
ros2 service call /fc_network/vehicle/mav_ping fc_interfaces/srv/MavPing "{target_sysid: 3, target_compid: 0, ping_seq: 1}"
ros2 service call /mavlink/add_two_ints example_interfaces/srv/AddTwoInts "{a: 5,b: 8}"
ros2 service call /fc_network/vehicle/mav_ping fc_interfaces/srv/MavPing "{target_sysid: 3, target_compid: 0, ping_seq: 1}"
ros2 service call /fc_network/vehicle/send_command_long fc_interfaces/srv/MavCommandLong "{target_sysid: 3, target_compid: 0, command: 176, confirmation: 0, param1: 1, param2: 4, param3: 0,param4: 0,param5: 0,param6: 0,param7: 0, timeout_sec: 2}"
MAV_CMD_DO_SET_MODE (176)
sudo tcpdump -i lo 'udp dst port 14561' -X