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Fixed the limited buffer size bug in inmsgs and changed to y formation

This commit is contained in:
vivek-shankar 2018-08-30 11:22:37 -04:00
parent fff1c3398d
commit c41bb81763
3 changed files with 4 additions and 3 deletions
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2
buzz_scripts/include/act/states.bzz
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@ -15,7 +15,7 @@ GOTO_MAXDIST = 150 # m.
GOTODIST_TOL = 1.0 # m. GOTODIST_TOL = 1.0 # m.
GOTOANG_TOL = 0.1 # rad. GOTOANG_TOL = 0.1 # rad.
path_it = 0 path_it = 0
graphid = 0 graphid = 3
pic_time = 0 pic_time = 0
g_it = 0 g_it = 0

1
include/roscontroller.h
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@ -52,6 +52,7 @@ typedef enum {
#define COM_DELAY 100000000 // in nano seconds i.e 100 ms #define COM_DELAY 100000000 // in nano seconds i.e 100 ms
#define TIME_SYNC_JUMP_THR 500000000 #define TIME_SYNC_JUMP_THR 500000000
#define MOVING_AVERAGE_ALPHA 0.1 #define MOVING_AVERAGE_ALPHA 0.1
#define MAX_NUMBER_OF_ROBOTS 10
#define TIMEOUT 60 #define TIMEOUT 60
#define BUZZRATE 10 #define BUZZRATE 10

4
src/roscontroller.cpp
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@ -392,12 +392,12 @@ void roscontroller::Initialize_pub_sub(ros::NodeHandle& n_c)
Subscribe(n_c); Subscribe(n_c);
payload_sub = n_c.subscribe(in_payload, 5, &roscontroller::payload_obt, this); payload_sub = n_c.subscribe(in_payload, MAX_NUMBER_OF_ROBOTS, &roscontroller::payload_obt, this);
// publishers // publishers
payload_pub = n_c.advertise<mavros_msgs::Mavlink>(out_payload, 5); payload_pub = n_c.advertise<mavros_msgs::Mavlink>(out_payload, 5);
MPpayload_pub = n_c.advertise<mavros_msgs::Mavlink>("fleet_status", 5); MPpayload_pub = n_c.advertise<mavros_msgs::Mavlink>("fleet_status", 5);
neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>("neighbours_pos", 5); neigh_pos_pub = n_c.advertise<rosbuzz::neigh_pos>("neighbours_pos", MAX_NUMBER_OF_ROBOTS);
uavstate_pub = n_c.advertise<std_msgs::String>("uavstate", 5); uavstate_pub = n_c.advertise<std_msgs::String>("uavstate", 5);
grid_pub = n_c.advertise<nav_msgs::OccupancyGrid>("grid", 5); grid_pub = n_c.advertise<nav_msgs::OccupancyGrid>("grid", 5);
localsetpoint_nonraw_pub = n_c.advertise<geometry_msgs::PoseStamped>(setpoint_name, 5); localsetpoint_nonraw_pub = n_c.advertise<geometry_msgs::PoseStamped>(setpoint_name, 5);