Commit c4c55f67 authored by bucyril's avatar bucyril
Browse files

fixed PPSClient not finding SafeControllerService

parent fffee00a
......@@ -112,7 +112,7 @@ void viconCallback(const ViconData& viconData) {
if(usingSafeController) {
bool success = safeController.call(controllerCall);
if(!success) {
ROS_ERROR("Failed to call safe controller");
ROS_ERROR_STREAM("Failed to call safe controller, " << safeController.isValid() << ", " << safeController.exists() << ", " << safeController.isPersistent());
}
}
......@@ -162,8 +162,8 @@ void loadSafeController() {
}
ros::service::waitForService(safeControllerName);
safeController = nodeHandle.serviceClient<Controller>(safeControllerName, true);
ROS_INFO_STREAM("loaded safe controller " << safeControllerName);
safeController = ros::service::createClient<Controller>(safeControllerName, true);
ROS_INFO_STREAM("loaded safe controller: " << safeController.getService());
}
void loadCustomController() {
......@@ -238,7 +238,6 @@ int main(int argc, char* argv[]){
std::string record_file = package_path + "datarecord.bag";
bag.open(record_file, rosbag::bagmode::Write);
ros::spin();
bag.close();
return 0;
......
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