Tools : Added custom ROS-2 serivce definition for switching drive modes

arshPratap · Aug 29, 2023 · 127dbdf · 127dbdf
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commit 127dbdf
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diff --git a/Tools/ros2/ardupilot_msgs/CMakeLists.txt b/Tools/ros2/ardupilot_msgs/CMakeLists.txt
@@ -12,6 +12,7 @@ find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/ArmMotors.srv"
+  "srv/ModeSwitch.srv"
   ADD_LINTER_TESTS
 )
 

diff --git a/Tools/ros2/ardupilot_msgs/srv/ModeSwitch.srv b/Tools/ros2/ardupilot_msgs/srv/ModeSwitch.srv
@@ -0,0 +1,15 @@
+
+# This service requests the vehicle to switch its drive/flight mode
+
+# mode : Set the value to the drive/flight mode to be used
+# Copter : https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/mode.h 
+# Rover  : https://github.com/ArduPilot/ardupilot/blob/master/Rover/mode.h
+# Plane  : https://github.com/ArduPilot/ardupilot/blob/master/ArduPlane/mode.h
+
+uint8 mode
+---
+# status    : True if the request for mode switch was successful, False otherwise
+# curr_mode : Returns the code for the current drive/flight mode , after the processing the request
+
+bool status
+uint8 curr_mode