Commit 5b34d756 authored by tiagos's avatar tiagos
Browse files

Ja ja

parent 68dd4b93
......@@ -87,6 +87,10 @@ void d_fall_pps::subscribeLocalization()
StudentSubscriber sub = StudentSubscriber(*it, address);
studentSubscribers.push_back(sub);
}
// for debugging
StudentSubscriber sub = StudentSubscriber(8, "/8/UWBDataPublisher/UWBData");
studentSubscribers.push_back(sub);
for(std::vector<StudentSubscriber>::iterator it = studentSubscribers.begin(); it != studentSubscribers.end(); ++it)
(*it).subscribe(nodeHandle);
......
......@@ -50,7 +50,6 @@ int main(int argc, char* argv[])
ros::spin();
return 0;
}
void d_fall_pps::loadParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std::vector<float>& val, int length) {
......@@ -134,17 +133,14 @@ void d_fall_pps::calibrateAnchors()
bool running = true;
interpreter.setOffset(6.75, -24.5, -6.0);
useLocalisation = true;
serial.writeSerial("loc100\r");
while (running)
{
serial.manageSerial();
/*if (!serial.manageSerial())
break;*/
std::string value = serial.readSerial();
while (value != "") {
......
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