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ROSBuzz_MISTLab
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addition of relative pos for logging

This commit is contained in:
vivek-shankar 2017-05-18 15:33:43 -04:00
parent a1a8090670
commit 95f80f5e9d
2 changed files with 9 additions and 3 deletions
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2
src/buzz_utility.cpp
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@ -706,7 +706,7 @@ int create_stig_tables() {
//buzzswarm_members_print(stdout, VM->swarmmembers, VM->robot);
//int SwarmSize = buzzdict_size(VM->swarmmembers)+1;
//fprintf(stderr, "Real Swarm Size: %i\n",SwarmSize);
set_robot_var(buzzdict_size(VM->swarmmembers)+1);
/* Check swarm state -- Not crashing thanks to test added in check_swarm_members */
//int status = 1;

10
src/roscontroller.cpp
View File

@ -112,21 +112,27 @@ namespace rosbzz_node{
multi_msg=true;
log<<cur_pos.latitude<<","<<cur_pos.longitude<<","<<cur_pos.altitude<<",";
collect_data(log);
map< int, buzz_utility::Pos_struct >::iterator it = neighbours_pos_map.begin();
log<<","<<neighbours_pos_map.size();
for(;it != neighbours_pos_map.end();++it){
log<<","<<(double)it->second.x<<","<<(double)it->second.y<<","<<(double)it->second.z;
}
log<<std::endl;
}
/*Set ROBOTS variable for barrier in .bzz from neighbours count*/
//no_of_robots=get_number_of_robots();
get_number_of_robots();
buzz_utility::set_robot_var(no_of_robots);
//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 TODO only when not updating*/
if(multi_msg)
//if(multi_msg)
updates_set_robots(no_of_robots);
ROS_INFO("ROBOTS: %i , acutal : %i",(int)no_of_robots,(int)buzzdict_size(buzz_utility::get_vm()->swarmmembers)+1);
/*run once*/
ros::spinOnce();
/*loop rate of ros*/
ros::Rate loop_rate(BUZZRATE);
ros::Rate loop_rate(BUZZRATE);
loop_rate.sleep();
if(fcu_timeout<=0)
buzzuav_closures::rc_call(mavros_msgs::CommandCode::NAV_LAND);