mavros控制无人机起飞和降落的C++代码

以下是使用mavros控制无人机起飞和降落的C++代码示例：

#include <ros/ros.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/CommandTOL.h>
#include <mavros_msgs/SetMode.h>

int main(int argc, char **argv)
{
    ros::init(argc, argv, "takeoff_landing");
    ros::NodeHandle nh;

    // 创建发布器
    ros::Publisher arming_client = nh.serviceClient<mavros_msgs::CommandBool>("mavros/cmd/arming");
    ros::Publisher takeoff_client = nh.serviceClient<mavros_msgs::CommandTOL>("mavros/cmd/takeoff");
    ros::Publisher land_client = nh.serviceClient<mavros_msgs::CommandTOL>("mavros/cmd/land");
    ros::ServiceClient set_mode_client = nh.serviceClient<mavros_msgs::SetMode>("mavros/set_mode");

    // 设置模式为MANUAL
    mavros_msgs::SetMode set_mode;
    set_mode.request.base_mode = 0;
    set_mode.request.custom_mode = "MANUAL";
    set_mode_client.call(set_mode);

    // 解锁
    mavros_msgs::CommandBool arm_cmd;
    arm_cmd.request.value = true;
    arming_client.call(arm_cmd);

    // 等待解锁
    while (!arm_cmd.response.success)
    {
        arm_cmd.response.success = false;
        arm_cmd.response.result = "";
        ROS_INFO("Waiting for arming...");
        arming_client.call(arm_cmd);
        ros::Duration(1.0).sleep();
    }

    // 起飞
    mavros_msgs::CommandTOL takeoff_cmd;
    takeoff_cmd.request.altitude = 3; // 设置起飞高度
    takeoff_client.call(takeoff_cmd);

    // 等待起飞
    while (!takeoff_cmd.response.success)
    {
        takeoff_cmd.response.success = false;
        takeoff_cmd.response.result = "";
        ROS_INFO("Waiting for takeoff...");
        takeoff_client.call(takeoff_cmd);
        ros::Duration(1.0).sleep();
    }

    // 降落
    mavros_msgs::CommandTOL land_cmd;
    land_cmd.request.altitude = 0; // 设置降落高度
    land_client.call(land_cmd);

    // 等待降落
    while (!land_cmd.response.success)
    {
        land_cmd.response.success = false;
        land_cmd.response.result = "";
        ROS_INFO("Waiting for landing...");
        land_client.call(land_cmd);
        ros::Duration(1.0).sleep();
    }

    // 上锁
    arm_cmd.request.value = false;
    arming_client.call(arm_cmd);

    return 0;
}

请注意，这仅仅是一个简单的示例，实际使用中可能需要根据具体需求进行修改和完善。