Revision cc558a8d
Modified the Behaviors to take a scoutname.
Scoutname now specifies which scout the behavior will affect. Scoutname must be passed to the constructors of each control module (some of which are now in need of modification), so that they can publish to the correct topic.
I also modified the constants file so that it is no longer exported. We should consider making this a full class with static exported functions (or a namespace).
scout/libscout/src/SonarControl.cpp | ||
---|---|---|
110 | 110 |
* |
111 | 111 |
* @TODO Change so we can get multiple sonar readings with one call |
112 | 112 |
* |
113 |
* @return The reading of the front sonar or LIB_ERR.
|
|
113 |
* @return The reading of the front sonar |
|
114 | 114 |
*/ |
115 | 115 |
float SonarControl::query_front() |
116 | 116 |
{ |
... | ... | |
121 | 121 |
} |
122 | 122 |
else |
123 | 123 |
{ |
124 |
ROS_ERROR("Failed to call service query_motors"); |
|
125 |
return LIB_ERROR; |
|
124 |
ROS_FATAL("Failed to call service query_motors"); |
|
126 | 125 |
} |
127 | 126 |
|
128 | 127 |
return 0; |
... | ... | |
136 | 135 |
* |
137 | 136 |
* @TODO Change so we can get multiple sonar readings with one call |
138 | 137 |
* |
139 |
* @return The reading of the back sonar or LIB_ERR.
|
|
138 |
* @return The reading of the back sonar |
|
140 | 139 |
*/ |
141 | 140 |
float SonarControl::query_back() |
142 | 141 |
{ |
... | ... | |
147 | 146 |
} |
148 | 147 |
else |
149 | 148 |
{ |
150 |
ROS_ERROR("Failed to call service query_motors"); |
|
151 |
return LIB_ERROR; |
|
149 |
ROS_FATAL("Failed to call service query_motors"); |
|
152 | 150 |
} |
153 | 151 |
|
154 | 152 |
return 0; |
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