Adding a new service to request/get geofence #26459
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Thanks for the contribution. This is good start! I'd like to better understand how you see this working in a ROS system - does ArduPilot only store fences and then the ROS computer can read the current fences? What about if the ROS computer wanted to set fences?
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| # This service requests the vehicle to arm or disarm its motors. | |||
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Can you fix all the comments that talk about arming?
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| if(geofence_request.req) | ||
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| geofence_data.radius = AP::fence()->get_radius(); |
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While ardupilot supports both fence types of AC_FENCE_TYPE_CIRCLE and AC_FENCE_TYPE_POLYGON, this message population seems to assume it's a circle.
Also, what is the plan for the PolyFence support in ArduPilot, which has inclusion/exclusions.
Hello, sorry for the inconsistencies. I will push some changes with better framed messages. Right now I was only working on a getter but yes setter could be implemented as well. I am testing the new message structure that is why I kept this as draft. Will soon put them here for review. Thanks a lot :) |
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I wasn't able to work on it so I am closing this draft PR |
Trying to fix issue #25715
Will be adding more geofence messages to this pull request