Revision 071926c2 scout/libscout/src/SonarControl.cpp

View differences:

scout/libscout/src/SonarControl.cpp
51 51
    : node(libscout_node)
52 52
{
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    sonar_set_scan_client =
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        node.serviceClient<sonar::sonar_set_scan>(scoutname+"/set_sonar_scan");
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        node.serviceClient< ::messages::sonar_set_scan>(scoutname+"/set_sonar_scan");
55 55
    sonar_toggle_client = 
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        node.serviceClient<sonar::sonar_toggle>(scoutname + "/toggle_sonar");
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        node.serviceClient< ::messages::sonar_toggle>(scoutname + "/toggle_sonar");
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    sonar_distance_sub = node.subscribe(scoutname + "/sonar_distance",
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                                        QUEUE_SIZE,
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                                        &SonarControl::distance_callback,
......
76 76
 * Update the array of sonar values, and the last read timestamps,
77 77
 * to reflect the new reading received.
78 78
 */
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void SonarControl::distance_callback(const sonar::sonar_distance::ConstPtr& msg)
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void SonarControl::distance_callback(const ::messages::sonar_distance::ConstPtr& msg)
80 80
{
81 81
    // Error checking so that the array doesn't cause a segfault
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    if (msg->pos < 0 || msg-> pos > 23)
......
128 128
    set_on();
129 129

  
130 130
    // Set scan range
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    sonar::sonar_set_scan srv;
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    ::messages::sonar_set_scan srv;
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    srv.request.stop_l = start_pos;
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    srv.request.stop_r = end_pos;
134 134

  
......
173 173
 */
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void SonarControl::set_power(bool is_on)
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{
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    sonar::sonar_toggle srv;
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    ::messages::sonar_toggle srv;
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    srv.request.set_on = is_on;
178 178

  
179 179
    // Check if the service call failed or if the response was false

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