Revision 071926c2
| ID | 071926c2860896f45a5c277c01cb6f0eba3b61d3 |
Retired (deleted) unused packages.
Moved their msg/srv definitions to the messages/ package instead, and revised the libscout and scoutsim files that depended on those namespaces.
| scout/libscout/src/SonarControl.cpp | ||
|---|---|---|
| 51 | 51 |
: node(libscout_node) |
| 52 | 52 |
{
|
| 53 | 53 |
sonar_set_scan_client = |
| 54 |
node.serviceClient<sonar::sonar_set_scan>(scoutname+"/set_sonar_scan");
|
|
| 54 |
node.serviceClient< ::messages::sonar_set_scan>(scoutname+"/set_sonar_scan");
|
|
| 55 | 55 |
sonar_toggle_client = |
| 56 |
node.serviceClient<sonar::sonar_toggle>(scoutname + "/toggle_sonar");
|
|
| 56 |
node.serviceClient< ::messages::sonar_toggle>(scoutname + "/toggle_sonar");
|
|
| 57 | 57 |
sonar_distance_sub = node.subscribe(scoutname + "/sonar_distance", |
| 58 | 58 |
QUEUE_SIZE, |
| 59 | 59 |
&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 |
*/ |
| 79 |
void SonarControl::distance_callback(const sonar::sonar_distance::ConstPtr& msg)
|
|
| 79 |
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 |
| 82 | 82 |
if (msg->pos < 0 || msg-> pos > 23) |
| ... | ... | |
| 128 | 128 |
set_on(); |
| 129 | 129 |
|
| 130 | 130 |
// Set scan range |
| 131 |
sonar::sonar_set_scan srv;
|
|
| 131 |
::messages::sonar_set_scan srv;
|
|
| 132 | 132 |
srv.request.stop_l = start_pos; |
| 133 | 133 |
srv.request.stop_r = end_pos; |
| 134 | 134 |
|
| ... | ... | |
| 173 | 173 |
*/ |
| 174 | 174 |
void SonarControl::set_power(bool is_on) |
| 175 | 175 |
{
|
| 176 |
sonar::sonar_toggle srv;
|
|
| 176 |
::messages::sonar_toggle srv;
|
|
| 177 | 177 |
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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