From 1fae2c0a03cc0dd8960dfab6f71b108c3bce74d1 Mon Sep 17 00:00:00 2001
From: Paul Beuchat <beuchatp@control.ee.ethz.ch>
Date: Tue, 14 Apr 2020 15:02:33 +0200
Subject: [PATCH] Corrected delaration of a quadrotor simulation in the
CrazyRadioEmulator node, required editing the CMakeList
---
dfall_ws/src/dfall_pkg/CMakeLists.txt | 1 +
.../dfall_pkg/include/nodes/CrazyRadioEmulator.h | 3 +--
.../src/dfall_pkg/src/nodes/CrazyRadioEmulator.cpp | 14 ++++++++++++++
3 files changed, 16 insertions(+), 2 deletions(-)
diff --git a/dfall_ws/src/dfall_pkg/CMakeLists.txt b/dfall_ws/src/dfall_pkg/CMakeLists.txt
index 6542cb7f..2c1541a1 100755
--- a/dfall_ws/src/dfall_pkg/CMakeLists.txt
+++ b/dfall_ws/src/dfall_pkg/CMakeLists.txt
@@ -400,6 +400,7 @@ add_executable(FlyingAgentClient src/nodes/FlyingAgentClient.cpp
add_executable(BatteryMonitor src/nodes/BatteryMonitor.cpp
src/classes/GetParamtersAndNamespaces.cpp)
add_executable(CrazyRadioEmulator src/nodes/CrazyRadioEmulator.cpp
+ src/classes/QuadrotorSimulator.cpp
src/classes/GetParamtersAndNamespaces.cpp)
add_executable(CsoneControllerService src/nodes/CsoneControllerService.cpp
src/classes/GetParamtersAndNamespaces.cpp)
diff --git a/dfall_ws/src/dfall_pkg/include/nodes/CrazyRadioEmulator.h b/dfall_ws/src/dfall_pkg/include/nodes/CrazyRadioEmulator.h
index 3a4d7ee6..21b594e2 100644
--- a/dfall_ws/src/dfall_pkg/include/nodes/CrazyRadioEmulator.h
+++ b/dfall_ws/src/dfall_pkg/include/nodes/CrazyRadioEmulator.h
@@ -169,8 +169,7 @@ float yaml_cfStateEstimate_polling_period_in_seconds = 0.2f;
// A QUADROTORS SIMULATOR
-//std::vector<QuadrotorSimulator> m_quadrotor_fleet;
-QuadrotorSimulator m_quadrotor_sim();
+QuadrotorSimulator m_quadrotor_sim;
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/CrazyRadioEmulator.cpp b/dfall_ws/src/dfall_pkg/src/nodes/CrazyRadioEmulator.cpp
index c1b081b8..9bad1acf 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/CrazyRadioEmulator.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/CrazyRadioEmulator.cpp
@@ -548,6 +548,20 @@ int main(int argc, char* argv[])
+ // INITIALISE THE QUADROTOR SIMULATOR
+ // > First conver the agentID to a zero-padded string
+ // Convert the agent ID to a zero padded string
+ std::ostringstream str_stream;
+ str_stream << std::setw(3) << std::setfill('0') << m_agentID;
+ std::string agentID_as_string(str_stream.str());
+ // > Initialise the quadrotor simulator class variable
+ QuadrotorSimulator m_quadrotor_sim = QuadrotorSimulator( "CFSIM" + agentID_as_string , 0.032 );
+ // > Inform the user
+ ROS_INFO_STREAM("[CRAZY RADIO EMULATOR] Initilised quadrotor simulation with ID = " << m_quadrotor_sim.get_id_string() << ", and mass in kg = " << m_quadrotor_sim.get_mass_in_kg() );
+
+
+
+
// PUBLISHERS
// Get a node handle to the Flying Agent Client
--
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