Add support for EVENT messages #1922
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vooon
reviewed
Nov 8, 2023
mavros/src/plugins/sys_status.cpp
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| evt_msg.header.stamp = node->now(); | ||
| evt_msg.severity = severity; | ||
| evt_msg.px4_id = px4_id; | ||
| evt_msg.event_time_boot_ms = eventm.event_time_boot_ms; |
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Usually time boot used to calculate header's time stamp.
vooon
reviewed
Nov 14, 2023
mavros/src/plugins/sys_status.cpp
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| @@ -1010,10 +1010,10 @@ class SystemStatusPlugin : public plugin::Plugin | |||
| process_event_normal(severity, px4_id, eventm.arguments); | |||
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| auto evt_msg = mavros_msgs::msg::StatusEvent(); | |||
| evt_msg.header.stamp = node->now(); | |||
| evt_msg.header.stamp.sec = event_time_boot_ms / 1000; | |||
| evt_msg.header.stamp.nanosec = (event_time_boot_ms % 1000) * 1000000; | |||
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mavros/mavros/include/mavros/mavros_uas.hpp
Line 409 in ca50f1a
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oh that's nice, added a commit for this
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Perfect, thank you! |
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Hello all, working with PX4 we are starting to use EVENT instead of STATUS_TEXT for more details over the status of the autopilot. For this we needed to have the EVENT messages bridged to ROS2. This is my implementation, taking input from other people to have it merged in upstream mavros