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Revision 9c0008d0

ID9c0008d04908747e904f4af7a5819eba03b9f7f1
Parent 94a3af93
Child 95bede66, 46587b36

Added by Leon about 12 years ago

Fixed CliffsensorControl, now actually part of Behaviors

View differences:

scout/libscout/src/CliffsensorControl.cpp
52 52 
 * starts and initializes the cliffsensors. It then subscribes to the
53 53 
 * cliff_status_changed topics
54 54 
 **/
55 
CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node) : node(libscout_node)
55 
CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node,
56 
                                  std::string scoutname) : node(libscout_node)
56 57 
{
57 58 
    /* Subscribe to the cliff_status_changed topic */
58 59 
    cliff_status_changed_sub = node.subscribe("cliff_status_changed",
59 
                                        QUEUE_SIZE, changed_cliff_status);
60 
                             QUEUE_SIZE, &CliffsensorControl::changed_cliff_status, this);
60 61 

  		




  61
  62
  
    
    ros::spin();


  		




  62
  63
  
    
}


  		




  ......




  72
  73
  
    
 */


  		




  73
  74
  
    
void CliffsensorControl::changed_cliff_status(const cliffsensor::cliff_status_changed::ConstPtr& msg)


  		




  74
  75
  
    
{


  		




  75
  
  
    
    front_raw = msg.front_raw;


  		




  76
  
  
    
    left_raw = msg.left_raw;


  		




  77
  
  
    
    right_raw = msg.right_raw;


  		




  
  76
  
    
    front_raw = msg->front_raw;


  		




  
  77
  
    
    left_raw = msg->left_raw;


  		




  
  78
  
    
    right_raw = msg->right_raw;


  		




  78
  79
  
    
    return;


  		




  79
  80
  
    
}


  		




  80
  81
  
    

  		












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