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Commit 5b2b8b49 authored by Yvan Bosshard's avatar Yvan Bosshard
Browse files

fixed param command to enable/disable ranging

parent 0109981c
......@@ -148,7 +148,11 @@ class PPSRadioClient:
self.init_log_uwb()
# self.init_params()
# _cf.params.refresh_toc(None, )
# self.params.request_update_of_all_params()
# rospy.logwarn(self._cf.param.request_param_update("firmware.modified"))
self.UWBUpdateCallback(1)
# if enableUWB:
......@@ -161,7 +165,7 @@ class PPSRadioClient:
self.delete_log_uwb()
slef.delete_log_rpy()
self.delete_log_rpy()
......@@ -319,8 +323,8 @@ class PPSRadioClient:
### enableUWB parameter on CF
def init_params(self):
self.params = Param(self._cf)
# def init_params(self):
# self._cf.params = Param()
......@@ -373,19 +377,19 @@ class PPSRadioClient:
try:
uwbdataproxy = rospy.ServiceProxy('/UWBManagerService/UWBData',Anchors)
resp = uwbdataproxy(0,0,0)
resp = uwbdataproxy(0,0,0,0)
if (resp.enableUWB == False):
if (self.anchorLog._get_started()):
self.stop_log_uwb()
if (self.rpyLog._get_started):
self.stop_log_rpy()
self.params.set_value(activate_anchors.enable,0)
self._cf.param.set_value('activate_anchors.enable', '0')
else:
if not (self.anchorLog._get_started()):
self.start_log_uwb()
if not (self.rpyLog._get_started()):
self.start_log_rpy()
self.params.set_value(activate_anchors.enable,1)
self._cf.param.set_value('activate_anchors.enable', '1')
except rospy.ServiceException, e:
rospy.logerr("[CrazyRadio] Unable to activate Loggings from Service");
......
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