Revision daf6a575 scout_avr/src/main.cpp

View differences:

scout_avr/src/main.cpp
5 5
#include "range.h"
6 6
#include "stepper.h"
7 7
#include "orb.h"
8
#include <std_msgs/Int16.h> // TODO remove
9 8
#include <bom/bom.h>
10 9
#include <sonar/sonar_distance.h>
11 10
#include <sonar/sonar_toggle.h>
......
84 83
  nh.advertise(bom_pub);
85 84

  
86 85
  /* Headlights (aka Orbs) */
87
  orb_init();
86
  //orb_init();
88 87
  ros::Subscriber<headlights::set_headlights> orb_sub("set_headlights",
89 88
      orb_callback);
90 89
  nh.subscribe(orb_sub);
......
129 128
      range_measure(ranges);
130 129
      range_msg.header.stamp = nh.now();
131 130
      range_msg.header.seq++;
132
      range_msg.pos = 0; // TODO fill this
131
      range_msg.pos = step_get_pos();
133 132
      range_msg.distance0 = ranges[0];
134 133
      range_msg.distance1 = ranges[1];
135 134
      range_pub.publish(&range_msg);

Also available in: Unified diff