Revision 82f3f746
ID | 82f3f746c12a3537e35b1a65b9710673473a7b14 |
Added wireless handling to scoutsim. Untested.
scout/scoutsim/src/sim_frame.cpp | ||
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113 | 113 |
kill_srv = nh.advertiseService("kill", |
114 | 114 |
&SimFrame::killCallback, this); |
115 | 115 |
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// Subscribe and publisher wirless from robots |
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117 |
wireless_receive = node.advertise<::messages::WirelessPacket>("/wireless/receive", 1000); |
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118 |
wireless_send = node.subscribe("/wireless/send", 1000, &SimFrame::wirelessCallback, this); |
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119 |
|
|
116 | 120 |
ROS_INFO("Starting scoutsim with node name %s", |
117 | 121 |
ros::this_node::getName().c_str()) ; |
118 | 122 |
|
... | ... | |
331 | 335 |
return true; |
332 | 336 |
} |
333 | 337 |
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338 |
void wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg) |
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{ |
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wireless_receive.publish(msg); |
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} |
|
334 | 342 |
} |
scout/scoutsim/src/sim_frame.h | ||
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99 | 99 |
bool spawnCallback(Spawn::Request&, Spawn::Response&); |
100 | 100 |
bool killCallback(Kill::Request&, Kill::Response&); |
101 | 101 |
|
102 |
void wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg); |
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|
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104 |
ros::Subscriber wireless_send; |
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ros::Publisher wireless_receive; |
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106 |
|
|
102 | 107 |
ros::NodeHandle nh; |
103 | 108 |
wxTimer* update_timer; |
104 | 109 |
wxBitmap path_bitmap; |
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