Commit e59c1fca authored by bucyril's avatar bucyril
Browse files

made changes to node paths to be able to run over network

parent 27ad2bf9
......@@ -112,7 +112,7 @@ if __name__ == '__main__':
cf_client = PPSRadioClient(radio_address)
time.sleep(1.0)
rospy.Subscriber("/PPSClient/ControlCommand", ControlCommand, controlCommandCallback)
rospy.Subscriber("PPSClient/ControlCommand", ControlCommand, controlCommandCallback)
rospy.spin()
rospy.loginfo("Turning off crazyflie")
......
export ROS_MASTER_URI=http://teacher:11311
export ROS_IP=10.42.0.33
export ROS_HOSTNAME=student$(cat ../param/StudentID)
export ROS_NAMESPACE=$(cat ../param/StudentID)
<launch>
<node pkg="d_fall_pps" name="CrazyRadio" output="screen" type="CrazyRadio.py">
<rosparam command="load" file="$(find d_fall_pps)/param/ClientConfig.yaml" />
</node>
......
teamName: "Two"
crazyFlieName: "cfFour"
crazyFlieAddress: "radio://0/99/2M"
safeController: "/SafeControllerService/RateController"
safeController: "SafeControllerService/RateController"
customController: ""
......@@ -225,7 +225,7 @@ int main(int argc, char* argv[]){
//this topic lets the PPSClient listen to the terminal commands
ros::Publisher commandPublisher = nodeHandle.advertise<std_msgs::Int32>("Command", 1);
ros::Subscriber commandSubscriber = nodeHandle.subscribe("/PPSClient/Command", 1, commandCallback);
ros::Subscriber commandSubscriber = nodeHandle.subscribe("PPSClient/Command", 1, commandCallback);
//start with safe controller
crazyflieEnabled = true;
......
......@@ -280,7 +280,7 @@ int main(int argc, char* argv[]) {
loadParameters(nodeHandle);
ros::Publisher setpointPublisher = nodeHandle.advertise<Setpoint>("Setpoint", 1);
ros::Subscriber setpointSubscriber = nodeHandle.subscribe("/SafeControllerService/Setpoint", 1, setpointCallback);
ros::Subscriber setpointSubscriber = nodeHandle.subscribe("SafeControllerService/Setpoint", 1, setpointCallback);
ros::ServiceServer service = nodeHandle.advertiseService("RateController", calculateControlOutput);
ROS_INFO("SafeControllerService ready");
......
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