Spiri/ROSBuzz_MISTLab
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without xbee

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dave 2017-04-14 14:54:29 -04:00
parent 4c99bb6acc
commit fcf9b17f0f
2 changed files with 5 additions and 3 deletions
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1
include/roscontroller.h
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@ -73,6 +73,7 @@ private:
int old_val=0; int old_val=0;
std::string bzzfile_name, fcclient_name, armclient, modeclient, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by,xbeesrv_name; std::string bzzfile_name, fcclient_name, armclient, modeclient, rcservice_name,bcfname,dbgfname,out_payload,in_payload,stand_by,xbeesrv_name;
bool rcclient; bool rcclient;
bool xbeeplugged;
bool multi_msg; bool multi_msg;
Num_robot_count count_robots; Num_robot_count count_robots;
ros::ServiceClient mav_client; ros::ServiceClient mav_client;

7
src/roscontroller.cpp
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@ -123,11 +123,11 @@ namespace rosbzz_node{
n_c.getParam("out_payload", out_payload); n_c.getParam("out_payload", out_payload);
/*Obtain in payload name*/ /*Obtain in payload name*/
n_c.getParam("in_payload", in_payload); 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*/ /*Obtain standby script to run during update*/
n_c.getParam("stand_by", stand_by); n_c.getParam("stand_by", stand_by);
n_c.getParam("xbee_status_srv", xbeesrv_name); n_c.getParam("xbee_status_srv", xbeesrv_name);
if(n_c.getParam("xbee_plugged", xbeeplugged));
else {ROS_ERROR("Provide the xbee plugged boolean in Launch file"); system("rosnode kill rosbuzz_node");}
GetSubscriptionParameters(n_c); GetSubscriptionParameters(n_c);
// initialize topics to null? // initialize topics to null?
@ -140,7 +140,8 @@ namespace rosbzz_node{
//todo: make it as an array in yaml? //todo: make it as an array in yaml?
m_sMySubscriptions.clear(); m_sMySubscriptions.clear();
std::string gps_topic, gps_type; std::string gps_topic, gps_type;
node_handle.getParam("topics/gps", gps_topic); if(node_handle.getParam("topics/gps", gps_topic));
else {ROS_ERROR("Provide a gps topic in Launch file"); system("rosnode kill rosbuzz_node");}
node_handle.getParam("type/gps", gps_type); node_handle.getParam("type/gps", gps_type);
m_smTopic_infos.insert(pair <std::string, std::string>(gps_topic, gps_type)); m_smTopic_infos.insert(pair <std::string, std::string>(gps_topic, gps_type));