Revision 1d1281cc

View differences:

scout/scoutsim/manifest.xml
17 17
  <depend package="encoders" />
18 18
  <depend package="linesensor" />
19 19
  <depend package="geometry_msgs" />
20
  <depend package="messages"/>
20 21
  
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"/>
42 44

  
43 45
    <msgs>
44 46
      msg/Color.msg  msg/Pose.msg  msg/Velocity.msg msg/teleop_input.msg
scout/scoutsim/src/sim_frame.cpp
114 114
                                       &SimFrame::killCallback, this);
115 115

  
116 116
        // Subscribe and publisher wirless from robots
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        wireless_receive = node.advertise<::messages::WirelessPacket>("/wireless/receive", 1000); 
118
        wireless_send = node.subscribe("/wireless/send", 1000, &SimFrame::wirelessCallback, this);
117
        wireless_receive = nh.advertise< ::messages::WirelessPacket>("/wireless/receive", 1000); 
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        wireless_send = nh.subscribe("/wireless/send", 1000, &SimFrame::wirelessCallback, this);
119 119

  
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

  
338
    void wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg)
338
    void SimFrame::wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg)
339 339
    {
340 340
        wireless_receive.publish(msg);
341 341
    }
scout/scoutsim/src/sim_frame.h
59 59

  
60 60
#include "scout.h"
61 61
#include "scoutsim_internal.h"
62
#include "messages/WirelessPacket.h"
62 63

  
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

  
102
            void wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg);
103
            void wirelessCallback(const messages::WirelessPacket::ConstPtr& msg);
103 104

  
104 105
            ros::Subscriber wireless_send;
105 106
            ros::Publisher wireless_receive;

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