Adding example service calls

mavlink · May 21, 2024 · adfcd9e · adfcd9e
1 parent 72269d9
commit adfcd9e
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/mavros_extras/src/plugins/gimbal_control.cpp b/mavros_extras/src/plugins/gimbal_control.cpp
@@ -70,6 +70,15 @@ class GimbalControlPlugin : public plugin::Plugin
   : Plugin(uas_, "gimbal_control"),
     tf_send(false)
   {
+    /**
+     * Sample service calls for interfacing with a Gimbal Protocol v2 gimbal:
+     * This service must be called first to take control of the gimbal:
+     * ros2 service call /mavros/gimbal_control/manager/configure mavros_msgs/srv/GimbalManagerConfigure "{sysid_primary: -2, compid_primary: 191, sysid_secondary: -1, compid_secondary: -1, gimbal_device_id: 0}"
+     * Set pitch and yaw:
+     * ros2 service call /mavros/gimbal_control/manager/pitchyaw mavros_msgs/srv/GimbalManagerPitchyaw "{pitch: -45, yaw: 90, pitch_rate: -0.2, yaw_rate: -0.2, flags: 0, gimbal_device_id: 0}"
+     * Set region of intrest for tracking:
+     * ros2 service call /mavros/gimbal_control/manager/set_roi mavros_msgs/srv/GimbalManagerSetRoi "{mode: 0, gimbal_device_id: 0, latitude: x, longitude: y, altitude: z}"
+    */
     // Callback group for supporting nested service calls
     cb_group = node->create_callback_group(rclcpp::CallbackGroupType::Reentrant);