Revision 98ed4757
Basic BOM works (only 1 BOM in 'centre' of scout)
Added BOM topic to scouts
Added 'kill' for emitters
| scout/scoutsim/src/scout.cpp | ||
|---|---|---|
| 102 | 102 |
pose_pub = node.advertise<Pose>("pose", 1);
|
| 103 | 103 |
color_pub = node.advertise<Color>("color_sensor", 1);
|
| 104 | 104 |
sonar_pub = node.advertise< ::messages::sonar_distance>("sonar_distance", 1);
|
| 105 |
bom_pub = node.advertise<BOM>("BOM", 1);
|
|
| 105 | 106 |
set_pen_srv = node.advertiseService("set_pen",
|
| 106 | 107 |
&Scout::setPenCallback, |
| 107 | 108 |
this); |
| ... | ... | |
| 429 | 430 |
} |
| 430 | 431 |
} |
| 431 | 432 |
|
| 433 |
void Scout::pub_BOM(bool bom_0) {
|
|
| 434 |
BOM b; |
|
| 435 |
|
|
| 436 |
b.bom_0 = true; |
|
| 437 |
bom_pub.publish(b); |
|
| 438 |
} |
|
| 439 |
|
|
| 440 |
|
|
| 432 | 441 |
/// Sends back the position of this scout so scoutsim can save |
| 433 | 442 |
/// the world state |
| 434 | 443 |
/// @todo remove dt param |
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