battery and gps

aerostack2 · Jun 24, 2024 · dd0b3ea · dd0b3ea
1 parent 31e1b57
commit dd0b3ea
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/launch/mavros_launch.py b/launch/mavros_launch.py
@@ -75,7 +75,9 @@ def get_node(context, *args, **kwargs) -> list:
                          'respawn_mavros': LaunchConfiguration('respawn_mavros')},
                         pluginlists_yaml, config_yaml],
             remappings=[('imu/data', f'/{namespace}/sensor_measurements/imu'),
-                        ('gps/fix', f'/{namespace}/sensor_measurements/gps_raw'),
+                        ('global_position/global', f'/{namespace}/sensor_measurements/gps'),
+                        ('battery', f'/{namespace}/sensor_measurements/battery'),
+
                         ],
         )]
 

diff --git a/src/mavlink_platform.cpp b/src/mavlink_platform.cpp
@@ -79,7 +79,6 @@ MavlinkPlatform::MavlinkPlatform(const rclcpp::NodeOptions & options)
 
   mavlink_odom_sub_ = this->create_subscription<nav_msgs::msg::Odometry>(
     "mavros/local_position/odom", rclcpp::SensorDataQoS(),
-
     [&](const nav_msgs::msg::Odometry::SharedPtr msg) {
       msg->child_frame_id = base_link_frame_id_;
       msg->header.frame_id = odom_frame_id_;