Revision 1d1281cc
Broke the build and then fixed it. Now onto testing!
scout/scoutsim/manifest.xml | ||
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17 | 17 |
<depend package="encoders" /> |
18 | 18 |
<depend package="linesensor" /> |
19 | 19 |
<depend package="geometry_msgs" /> |
20 |
<depend package="messages"/> |
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20 | 21 |
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21 | 22 |
<rosdep name="wxwidgets"/> |
22 | 23 |
|
... | ... | |
39 | 40 |
<depend package="motors" /> |
40 | 41 |
<depend package="encoders" /> |
41 | 42 |
<depend package="geometry_msgs" /> |
43 |
<depend package="messages"/> |
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42 | 44 |
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43 | 45 |
<msgs> |
44 | 46 |
msg/Color.msg msg/Pose.msg msg/Velocity.msg msg/teleop_input.msg |
scout/scoutsim/src/sim_frame.cpp | ||
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114 | 114 |
&SimFrame::killCallback, this); |
115 | 115 |
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116 | 116 |
// Subscribe and publisher wirless from robots |
117 |
wireless_receive = node.advertise<::messages::WirelessPacket>("/wireless/receive", 1000);
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118 |
wireless_send = node.subscribe("/wireless/send", 1000, &SimFrame::wirelessCallback, this);
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117 |
wireless_receive = nh.advertise< ::messages::WirelessPacket>("/wireless/receive", 1000);
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118 |
wireless_send = nh.subscribe("/wireless/send", 1000, &SimFrame::wirelessCallback, this);
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119 | 119 |
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120 | 120 |
ROS_INFO("Starting scoutsim with node name %s", |
121 | 121 |
ros::this_node::getName().c_str()) ; |
... | ... | |
335 | 335 |
return true; |
336 | 336 |
} |
337 | 337 |
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338 |
void wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg) |
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338 |
void SimFrame::wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg)
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339 | 339 |
{ |
340 | 340 |
wireless_receive.publish(msg); |
341 | 341 |
} |
scout/scoutsim/src/sim_frame.h | ||
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59 | 59 |
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60 | 60 |
#include "scout.h" |
61 | 61 |
#include "scoutsim_internal.h" |
62 |
#include "messages/WirelessPacket.h" |
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62 | 63 |
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63 | 64 |
#define SCOUTSIM_NUM_SCOUTS 1 |
64 | 65 |
#define ID_ABOUT 1 |
... | ... | |
99 | 100 |
bool spawnCallback(Spawn::Request&, Spawn::Response&); |
100 | 101 |
bool killCallback(Kill::Request&, Kill::Response&); |
101 | 102 |
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102 |
void wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg);
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103 |
void wirelessCallback(const messages::WirelessPacket::ConstPtr& msg); |
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103 | 104 |
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104 | 105 |
ros::Subscriber wireless_send; |
105 | 106 |
ros::Publisher wireless_receive; |
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