From 8b971e410b1e66b375d6e456d2d2427b05def20d Mon Sep 17 00:00:00 2001 From: David St-Onge Date: Wed, 12 Apr 2017 17:51:22 -0400 Subject: [PATCH] added nonraw topic --- launch/launch_config/m100.yaml | 1 + src/roscontroller.cpp | 4 +--- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/launch/launch_config/m100.yaml b/launch/launch_config/m100.yaml index 758aa8e..f9cb809 100644 --- a/launch/launch_config/m100.yaml +++ b/launch/launch_config/m100.yaml @@ -4,6 +4,7 @@ topics: status : /flight_status fcclient : /dji_mavcmd setpoint : /setpoint_raw/local + setpoint_nonraw : /setpoint_position/local armclient: /dji_mavarm modeclient: /dji_mavmode altitude: /rel_alt diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp index bdc3437..80dfb55 100644 --- a/src/roscontroller.cpp +++ b/src/roscontroller.cpp @@ -133,12 +133,10 @@ namespace rosbzz_node{ n_c.getParam("out_payload", out_payload); /*Obtain in payload name*/ n_c.getParam("in_payload", in_payload); - /*Obtain Number of robots for barrier*/ - n_c.getParam("No_of_Robots", barrier); /*Obtain standby script to run during update*/ n_c.getParam("stand_by", stand_by); n_c.getParam("xbee_status_srv", xbeesrv_name); - + GetSubscriptionParameters(n_c); // initialize topics to null?