Revision cfdb3afa
Added latching to publishers so the first message gets noticed.
scout/libscout/src/HeadlightControl.cpp | ||
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51 | 51 |
: node(libscout_node) |
52 | 52 |
{ |
53 | 53 |
set_headlights_pub = node.advertise<headlights::set_headlights> |
54 |
(scoutname + "/set_headlights", QUEUE_SIZE); |
|
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(scoutname + "/set_headlights", QUEUE_SIZE, true);
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|
55 | 55 |
} |
56 | 56 |
|
57 | 57 |
/** |
scout/libscout/src/MotorControl.cpp | ||
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51 | 51 |
{ |
52 | 52 |
set_motors_pub = |
53 | 53 |
node.advertise<motors::set_motors>(scoutname + "/set_motors", |
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QUEUE_SIZE); |
|
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QUEUE_SIZE, true);
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|
55 | 55 |
query_motors_client = |
56 | 56 |
node.serviceClient<motors::query_motors>(scoutname + "/query_motors"); |
57 | 57 |
} |
scout/libscout/src/WirelessSender.cpp | ||
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48 | 48 |
packet.pan = pan; |
49 | 49 |
packet.channel = channel; |
50 | 50 |
pub = node.advertise< ::messages::WirelessPacket>("/wireless/send", |
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QUEUE_SIZE); |
|
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QUEUE_SIZE, true);
|
|
52 | 52 |
} |
53 | 53 |
|
54 | 54 |
void WirelessSender::setType(uint16_t type) |
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