使用c++代码使mavros设置为offboard模式
时间: 2023-06-15 16:07:05 浏览: 65
要将MAVROS设置为Offboard模式,您可以使用以下C++代码:
```c++
#include <ros/ros.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/SetMode.h>
int main(int argc, char **argv)
{
ros::init(argc, argv, "offboard_node");
ros::NodeHandle nh;
ros::ServiceClient arming_client = nh.serviceClient<mavros_msgs::CommandBool>("/mavros/cmd/arming");
mavros_msgs::CommandBool arm_cmd;
arm_cmd.request.value = true;
if (arming_client.call(arm_cmd) && arm_cmd.response.success)
{
ROS_INFO("Vehicle armed");
}
else
{
ROS_ERROR("Failed to arm vehicle");
return -1;
}
ros::ServiceClient set_mode_client = nh.serviceClient<mavros_msgs::SetMode>("/mavros/set_mode");
mavros_msgs::SetMode offboard_set_mode;
offboard_set_mode.request.custom_mode = "OFFBOARD";
if (set_mode_client.call(offboard_set_mode) && offboard_set_mode.response.success)
{
ROS_INFO("Offboard enabled");
}
else
{
ROS_ERROR("Failed to set Offboard");
return -1;
}
ros::spin();
return 0;
}
```
这段代码将使用ROS和MAVROS库。它首先将MAVROS设置为“解锁”状态,然后将其设置为Offboard模式。请注意,为了使此代码正常工作,您需要确保已经设置正确的ROS节点和MAVROS参数。