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ROSBuzz_MISTLab
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neigh pos correction

This commit is contained in:
vivek-shankar 2017-01-13 14:26:14 -05:00
parent 85325b3091
commit 83f4286736
1 changed files with 4 additions and 4 deletions
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8
src/roscontroller.cpp
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@ -37,7 +37,7 @@ namespace rosbzz_node{
{ {
/*Update neighbors position inside Buzz*/ /*Update neighbors position inside Buzz*/
buzz_utility::neighbour_pos_callback(neighbours_pos_map); buzz_utility::neighbour_pos_callback(neighbours_pos_map);
/*
map< int, buzz_utility::Pos_struct >::iterator it; map< int, buzz_utility::Pos_struct >::iterator it;
rosbuzz::neigh_pos neigh_pos_array; //neigh_pos_array.clear(); rosbuzz::neigh_pos neigh_pos_array; //neigh_pos_array.clear();
sensor_msgs::NavSatFix tmp; sensor_msgs::NavSatFix tmp;
@ -48,7 +48,7 @@ namespace rosbzz_node{
tmp.altitude=(it->second).z; tmp.altitude=(it->second).z;
neigh_pos_array.pos_neigh.push_back(tmp); neigh_pos_array.pos_neigh.push_back(tmp);
} }
neigh_pos_pub.publish(neigh_pos_array); */ neigh_pos_pub.publish(neigh_pos_array);
/*Check updater state and step code*/ /*Check updater state and step code*/
if(update_routine(bcfname.c_str(), dbgfname.c_str(),0)==CODE_RUNNING) if(update_routine(bcfname.c_str(), dbgfname.c_str(),0)==CODE_RUNNING)
@ -207,7 +207,7 @@ namespace rosbzz_node{
void roscontroller::maintain_pos(int tim_step){ void roscontroller::maintain_pos(int tim_step){
if(timer_step >=10){ if(timer_step >=10){
neighbours_pos_map.clear(); neighbours_pos_map.clear();
//raw_neighbours_pos_map.clear(); raw_neighbours_pos_map.clear();
timer_step=0; timer_step=0;
} }
} }
@ -303,7 +303,7 @@ namespace rosbzz_node{
/*pass neighbour position to local maintaner*/ /*pass neighbour position to local maintaner*/
buzz_utility::Pos_struct n_pos(cvt_neighbours_pos_payload[0],cvt_neighbours_pos_payload[1],cvt_neighbours_pos_payload[2]); buzz_utility::Pos_struct n_pos(cvt_neighbours_pos_payload[0],cvt_neighbours_pos_payload[1],cvt_neighbours_pos_payload[2]);
/*Put RID and pos*/ /*Put RID and pos*/
//raw_neighbours_pos_put((int)out[1],n_pos); raw_neighbours_pos_put((int)out[1],raw_neigh_pos);
neighbours_pos_put((int)out[1],n_pos); neighbours_pos_put((int)out[1],n_pos);
delete[] out; delete[] out;
buzz_utility::in_msg_process((message_obt+3)); buzz_utility::in_msg_process((message_obt+3));