From f900057989181a6b8d18a518d15e5b01101b0b50 Mon Sep 17 00:00:00 2001
From: isvogor <isvogor@gmail.com>
Date: Fri, 12 May 2017 11:04:42 -0400
Subject: [PATCH] localpos topic to yaml

---
 include/roscontroller.h        |   1 +
 launch/launch_config/solo.yaml |   1 +
 script/testsolo.bo             | Bin 3809 -> 3809 bytes
 src/roscontroller.cpp          |   6 +++---
 4 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/include/roscontroller.h b/include/roscontroller.h
index 4169307..74db7ae 100644
--- a/include/roscontroller.h
+++ b/include/roscontroller.h
@@ -111,6 +111,7 @@ private:
 	ros::Subscriber Robot_id_sub;
 	ros::Subscriber relative_altitude_sub;
 
+	std::string local_pos_sub_name;
 	ros::Subscriber local_pos_sub;
 	double local_pos_new[3];
 
diff --git a/launch/launch_config/solo.yaml b/launch/launch_config/solo.yaml
index c53989a..6ad2ec8 100644
--- a/launch/launch_config/solo.yaml
+++ b/launch/launch_config/solo.yaml
@@ -6,6 +6,7 @@ topics:
   setpoint:   mavros/setpoint_position/local
   armclient:  mavros/cmd/arming
   modeclient: mavros/set_mode
+  localpos: /mavros/local_position/pose
   stream:  mavros/set_stream_rate
   altitude: mavros/global_position/rel_alt
 type:
diff --git a/script/testsolo.bo b/script/testsolo.bo
index d44323f3d95452a9e324e599bece697ec63f0381..294076a1b82734a464ecc21f47de0694be114e9d 100644
GIT binary patch
delta 49
vcmaDT`%renVh)x5Ltky=7=S>Y2}sDOo#kL)P|yJ~#lfO-Ao<P5Ii%PCO@a&;

delta 49
wcmaDT`%renVh)wVUl%yYF#v%)6OfQmJIleqpr8X}ii1VvK=PZ9b4alP08*q3LjV8(

diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index 1f27497..3ae914d 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -215,7 +215,8 @@ namespace rosbzz_node{
   		else {ROS_ERROR("Provide a mode client name in Launch file"); system("rosnode kill rosbuzz_node");}  
   		if(node_handle.getParam("topics/stream", stream_client_name));
   		else {ROS_ERROR("Provide a mode client name in Launch file"); system("rosnode kill rosbuzz_node");}
-
+  		if(node_handle.getParam("topics/localpos", local_pos_sub_name));
+  		else {ROS_ERROR("Provide a localpos name in YAML file"); system("rosnode kill rosbuzz_node");}
 
 
 
@@ -250,8 +251,7 @@ namespace rosbzz_node{
 		stream_client = n_c.serviceClient<mavros_msgs::StreamRate>(stream_client_name);
                 
   		users_sub = n_c.subscribe("users_pos", 1000, &roscontroller::users_pos,this);
-
-  		local_pos_sub = n_c.subscribe("/mavros/local_position/pose", 1000, &roscontroller::local_pos_callback, this);
+  		local_pos_sub = n_c.subscribe(local_pos_sub_name, 1000, &roscontroller::local_pos_callback, this);
                 
 		multi_msg=true;
 	}