Commit 9bf104cc authored by roangel's avatar roangel
Browse files

now python nodes have correct names

parent ddc766a9
......@@ -20,8 +20,8 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
qRegisterMetaType<ptrToMessage>("ptrToMessage");
QObject::connect(m_rosNodeThread, SIGNAL(newViconData(const ptrToMessage&)), this, SLOT(updateNewViconData(const ptrToMessage&)));
ros::NodeHandle nodeHandle("~");
crazyRadioStatusSubscriber = nodeHandle.subscribe(ros_namespace + "/CrazyRadioStatus", 1, &MainWindow::crazyRadioStatusCallback, this);
ros::NodeHandle nodeHandle(ros_namespace);
crazyRadioStatusSubscriber = nodeHandle.subscribe("CrazyRadio/CrazyRadioStatus", 1, &MainWindow::crazyRadioStatusCallback, this);
// communication with PPS Client, just to make it possible to communicate through terminal also we use PPSClient's name
ros::NodeHandle nh_PPSClient(ros_namespace + "/PPSClient");
......
......@@ -72,7 +72,7 @@ class PPSRadioClient:
self._status = DISCONNECTED
self.link_uri = link_uri
self.status_pub = rospy.Publisher('CrazyRadioStatus', Int32, queue_size=1)
self.status_pub = rospy.Publisher(node_name + '/CrazyRadioStatus', Int32, queue_size=1)
# Initialize the CrazyFlie and add callbacks
self._cf = Crazyflie()
......@@ -202,7 +202,9 @@ def controlCommandCallback(data):
if __name__ == '__main__':
rospy.init_node('CrazyRadio', anonymous=True)
global node_name
node_name = "CrazyRadio"
rospy.init_node(node_name, anonymous=True)
# Initialize the low-level drivers (don't list the debug drivers)
cflib.crtp.init_drivers(enable_debug_driver=False)
......@@ -218,7 +220,7 @@ if __name__ == '__main__':
# rospy.loginfo("manual address loaded")
global cfbattery_pub
cfbattery_pub = rospy.Publisher('cfbattery', Float32, queue_size=10)
cfbattery_pub = rospy.Publisher(node_name + '/cfbattery', Float32, queue_size=10)
global cf_client
......
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