Add drone's code.

HydrogenZp · HydrogenZp · commit 39ae07755733 · 2025-11-20T10:23:46.000Z
diff --git a/rm_common/include/rm_common/decision/command_sender.h b/rm_common/include/rm_common/decision/command_sender.h
@@ -893,12 +893,16 @@ class CameraSwitchCommandSender : public CommandSenderBase<std_msgs::String>
 public:
   explicit CameraSwitchCommandSender(ros::NodeHandle& nh) : CommandSenderBase<std_msgs::String>(nh)
   {
-    ROS_ASSERT(nh.getParam("camera1_name", camera1_name_) && nh.getParam("camera2_name", camera2_name_));
+    ROS_ASSERT(nh.getParam("camera_left_name", camera1_name_) && nh.getParam("camera_right_name", camera2_name_));
+    msg_.data = camera2_name_;
+  }
+  void switchCameraLeft()
+  {
     msg_.data = camera1_name_;
   }
-  void switchCamera()
+  void switchCameraRight()
   {
-    msg_.data = msg_.data == camera1_name_ ? camera2_name_ : camera1_name_;
+    msg_.data = camera2_name_;
   }
   void sendCommand(const ros::Time& time) override
   {

Original file line number	Diff line number	Diff line change
`@@ -893,12 +893,16 @@ class CameraSwitchCommandSender : public CommandSenderBase<std_msgs::String>`
`893`	`893`	`public:`
`894`	`894`	`explicit CameraSwitchCommandSender(ros::NodeHandle& nh) : CommandSenderBase<std_msgs::String>(nh)`
`895`	`895`	`{`
`896`		`- ROS_ASSERT(nh.getParam("camera1_name", camera1_name_) && nh.getParam("camera2_name", camera2_name_));`
	`896`	`+ ROS_ASSERT(nh.getParam("camera_left_name", camera1_name_) && nh.getParam("camera_right_name", camera2_name_));`
	`897`	`+ msg_.data = camera2_name_;`
	`898`	`+ }`
	`899`	`+ void switchCameraLeft()`
	`900`	`+ {`
`897`	`901`	`msg_.data = camera1_name_;`
`898`	`902`	`}`
`899`		`- void switchCamera()`
	`903`	`+ void switchCameraRight()`
`900`	`904`	`{`
`901`		`- msg_.data = msg_.data == camera1_name_ ? camera2_name_ : camera1_name_;`
	`905`	`+ msg_.data = camera2_name_;`
`902`	`906`	`}`
`903`	`907`	`void sendCommand(const ros::Time& time) override`
`904`	`908`	`{`