testoverride.cpp

#include "ros/ros.h"
#include "mavros/RCIn.h"
#include "mavros/OverrideRCIn.h"

int c=0;
int __ct=0;

void rc_in_callback(mavros::RCIn);
void doSequence(ros::Publisher,int);

int main(int argc, char* argv[]) {
  ros::init(argc, argv, "movetest");
  ros::NodeHandle __n;
  ros::Subscriber rc_in_subscriber = __n.subscribe("/mavros/rc/in",1000,rc_in_callback);
  ros::Publisher rc_pub = __n.advertise<mavros::OverrideRCIn>("/mavros/rc/override", 1000);
  ros::Rate loop_rate(10);

  int tc=0;
  while(ros::ok()) {
    doSequence(pub,1800);
    ros::spinOnce();
    loop_rate.sleep();
    tc++;
  }
  return 0;
}

void rc_in_callback(mavros::RCIn msg) {
  ROS_INFO("Channel 1: %d | Channel 3: %d",msg.channels[0], msg.channels[2]);

}

void doSequence(ros::Publisher pub, int c) {
  // 1500, 1015, 1915, 1500
  mavros::OverrideRCIn msg;
  msg.channels[0]=c;
  pub.publish(msg);
}