Revision b00761a0
ID | b00761a0e88f934a309a939b653d9f441b127ae8 |
Updated ButtonControl and SonarControl.
Finally, the behavior compiles. Had to fix a lot of problems involving misunderstandings with Publisher/Client/ServiceServer/ServiceClient confusion.
We can now run priya_behavior as an executable, though the process for generating behavior executables still needs some work.
scout/sonar/src/sonar.cpp | ||
---|---|---|
57 | 57 |
**/ |
58 | 58 |
void sonar_init(void) |
59 | 59 |
{ |
60 |
ROS_INFO("Sonar_init called [unimplemented]."); |
|
60 | 61 |
sonar_stepper_pos = 0; |
61 | 62 |
} |
62 | 63 |
|
... | ... | |
66 | 67 |
bool handle_sonar_toggle(sonar::sonar_toggle::Request &req, |
67 | 68 |
sonar::sonar_toggle::Response &res) |
68 | 69 |
{ |
69 |
if (req.set_on) |
|
70 |
if (req.set_on && !is_on) |
|
71 |
{ |
|
70 | 72 |
ROS_INFO("Turning on the sonar [unimplemented]"); |
71 |
else |
|
73 |
} |
|
74 |
else if (req.set_off && is_on) |
|
75 |
{ |
|
72 | 76 |
ROS_INFO("Turning off the sonar [unimplemented]"); |
77 |
} |
|
73 | 78 |
|
74 | 79 |
res.ack = true; |
75 | 80 |
|
Also available in: Unified diff