topic fix

include/roscontroller.h

@@ -92,7 +92,6 @@ private:
 	ros::Publisher payload_pub;
 	ros::Publisher neigh_pos_pub;
 	ros::Publisher localsetpoint_pub;
-	ros::Publisher localsetpoint_nonraw_pub;
 	ros::ServiceServer service;
 	ros::Subscriber current_position_sub;
 	ros::Subscriber battery_sub;

src/roscontroller.cpp

@@ -42,6 +42,7 @@ namespace rosbzz_node{
 
 	void roscontroller::GetRobotId()
 	{
+
 		mavros_msgs::ParamGet::Request robot_id_srv_request; robot_id_srv_request.param_id="id";
         	mavros_msgs::ParamGet::Response robot_id_srv_response;
 		while(!xbeestatus_srv.call(robot_id_srv_request,robot_id_srv_response)){
@@ -50,6 +51,8 @@ namespace rosbzz_node{
 		}
 
 		robot_id=robot_id_srv_response.value.integer;
+
+		//robot_id = 8;
 	}
 
 	/*-------------------------------------------------
@@ -793,8 +796,7 @@ namespace rosbzz_node{
 		moveMsg.pose.orientation.z = 0;
 		moveMsg.pose.orientation.w = 1;
 
-
-		localsetpoint_nonraw_pub.publish(moveMsg);
+		localsetpoint_pub.publish(moveMsg);
 
 		ROS_INFO("Sent local NON RAW position message!");
 	}

src/testflockfev.bzz

@@ -50,7 +50,7 @@ function hexagon() {
   	statef=land
   	} else {
   	timeW = timeW+1
-  	uav_moveto(0.0,0.35)
+  	uav_moveto(0.0,0.0)
   	}
 }