takeoff.cpp

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// Copyright 2024 Robin Müller
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//      https://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#include "auto_apms_interfaces/action/takeoff.hpp"
 
#include "auto_apms_px4/constants.hpp"
#include "auto_apms_px4/mode_executor.hpp"
 
namespace auto_apms_px4
{
 
class TakeoffTask : public ModeExecutor<auto_apms_interfaces::action::Takeoff>
{
public:
  explicit TakeoffTask(const rclcpp::NodeOptions& options)
    : ModeExecutor{ TAKEOFF_TASK_NAME, options, FlightMode::Takeoff }
  {
  }
 
private:
  bool sendActivationCommand(const VehicleCommandClient& client, std::shared_ptr<const Goal> goal_ptr)
  {
    return client.Takeoff(goal_ptr->altitude_amsl_m, goal_ptr->heading_rad);
  }
};
 
}  // namespace auto_apms_px4
 
#include "rclcpp_components/register_node_macro.hpp"
RCLCPP_COMPONENTS_REGISTER_NODE(auto_apms_px4::TakeoffTask)