basic ros2 topic run

[naorwaiss]

try to run basic topic with ros2

#!/usr/bin/env python

import rclpy
from rclpy.node import Node
from sensor_msgs.msg import NavSatFix

class DronePositionMonitor(Node):
    def __init__(self):
        super().__init__('drone_position_monitor')
        self.current_position = None

        self.pos_sub = self.create_subscription(NavSatFix, '/mavros/global_position/global', self.position_callback, 10)

    def position_callback(self, data):
        self.current_position = data
        self.get_logger().info("Drone Position (Lat, Long, Alt): %.7f, %.7f, %.2f", data.latitude, data.longitude, data.altitude)

def main(args=None):
    rclpy.init(args=args)
    drone_monitor = DronePositionMonitor()
    rclpy.spin(drone_monitor)
    rclpy.shutdown()

if __name__ == '__main__':
    main()

try to get the position of the drone and on the way learn how to use nodes

this is the problem:
```
naor@naor-laptop:~$ ros2 run drone_position_monitor position_monitor 

/opt/ros/foxy/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html from pkg_resources import load_entry_point

thanks for the help
    more problem:
    how can i get msg from the ros2 (foxy) to my pymavlink - i try to import but the python dint recognize it.

[vooon]

First you should configure same QoS as mavros uses. Then try doing the same with ros2 tool.

[naorwaiss]

sory for the annoying i am fresh here how can i configure the Qos? have some tutorials?

[vooon]

https://docs.ros.org/en/rolling/Concepts/Intermediate/About-Quality-of-Service-Settings.html