From 4dbcecf2da885c72474d2d06073f7ea6c85a2999 Mon Sep 17 00:00:00 2001
From: vivek-shankar <robovivek@gmail.com>
Date: Sun, 2 Apr 2017 21:43:36 -0400
Subject: [PATCH] Robots variable fix

---
 include/roscontroller.h   | 1 +
 launch/rosbuzz.launch     | 3 +--
 launch/rosbuzzm100.launch | 1 +
 src/roscontroller.cpp     | 5 +++--
 4 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/include/roscontroller.h b/include/roscontroller.h
index 456d5eb..370fcf0 100644
--- a/include/roscontroller.h
+++ b/include/roscontroller.h
@@ -59,6 +59,7 @@ private:
 	int armstate;
 	int barrier;
 	int message_number=0;
+	int no_of_robots=0;
 	std::string bzzfile_name, fcclient_name, armclient, modeclient, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by,xbeesrv_name;
 	bool rcclient;
 	bool multi_msg;
diff --git a/launch/rosbuzz.launch b/launch/rosbuzz.launch
index eb901e7..16e86c2 100644
--- a/launch/rosbuzz.launch
+++ b/launch/rosbuzz.launch
@@ -8,8 +8,7 @@
 		<param name="rcservice_name" value="/buzzcmd" />
 		<param name="in_payload" value="/inMavlink"/>
 		<param name="out_payload" value="/outMavlink"/>
-		<param name="robot_id" value="3"/>
-		<param name="No_of_Robots" value="3"/>
+		<param name="xbee_status_srv" value="/xbee_status"/>
 		<param name="stand_by" value="$(env ROS_WS)/src/ROSBuzz/src/stand_by.bo"/>
 		</node>
 		
diff --git a/launch/rosbuzzm100.launch b/launch/rosbuzzm100.launch
index e30a10b..c44b99e 100644
--- a/launch/rosbuzzm100.launch
+++ b/launch/rosbuzzm100.launch
@@ -8,6 +8,7 @@
 		<param name="fcclient_name" value="/dji_mavcmd" />
 		<param name="in_payload" value="/inMavlink"/>
 		<param name="out_payload" value="/outMavlink"/>
+		<param name="xbee_status_srv" value="/xbee_status"/>
 		<param name="robot_id" value="3"/>
 		<param name="No_of_Robots" value="3"/>
 		<param name="stand_by" value="$(env ROS_WS)/src/ROSBuzz/src/stand_by.bo"/>
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 5be8d5d..da7c8a7 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -73,9 +73,10 @@ namespace rosbzz_node{
 					multi_msg=true;
 				}
 				/*Set ROBOTS variable for barrier in .bzz from neighbours count*/
-				buzz_utility::set_robot_var(raw_neighbours_pos_map.size()+1);
+				if(neighbours_pos_map.size() >0) no_of_robots =neighbours_pos_map.size()+1;
+				buzz_utility::set_robot_var(no_of_robots);
 				/*Set no of robots for updates*/
-				updates_set_robots(raw_neighbours_pos_map.size()+1);
+				updates_set_robots(no_of_robots);
     				/*run once*/
     				ros::spinOnce();
 				/*loop rate of ros*/