Revision daf6a575
| ID | daf6a575208a562e4551f9111a98d0c3a636aceb |
Added position to published sonar messages
| scout_avr/src/main.cpp | ||
|---|---|---|
| 5 | 5 |
#include "range.h" |
| 6 | 6 |
#include "stepper.h" |
| 7 | 7 |
#include "orb.h" |
| 8 |
#include <std_msgs/Int16.h> // TODO remove |
|
| 9 | 8 |
#include <bom/bom.h> |
| 10 | 9 |
#include <sonar/sonar_distance.h> |
| 11 | 10 |
#include <sonar/sonar_toggle.h> |
| ... | ... | |
| 84 | 83 |
nh.advertise(bom_pub); |
| 85 | 84 |
|
| 86 | 85 |
/* Headlights (aka Orbs) */ |
| 87 |
orb_init(); |
|
| 86 |
//orb_init();
|
|
| 88 | 87 |
ros::Subscriber<headlights::set_headlights> orb_sub("set_headlights",
|
| 89 | 88 |
orb_callback); |
| 90 | 89 |
nh.subscribe(orb_sub); |
| ... | ... | |
| 129 | 128 |
range_measure(ranges); |
| 130 | 129 |
range_msg.header.stamp = nh.now(); |
| 131 | 130 |
range_msg.header.seq++; |
| 132 |
range_msg.pos = 0; // TODO fill this
|
|
| 131 |
range_msg.pos = step_get_pos();
|
|
| 133 | 132 |
range_msg.distance0 = ranges[0]; |
| 134 | 133 |
range_msg.distance1 = ranges[1]; |
| 135 | 134 |
range_pub.publish(&range_msg); |
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