From 4ee3ce8a93986ec71a04f9090ce1675d1d5c17cf Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Mon, 4 Dec 2017 16:00:16 +0100
Subject: [PATCH] Adjusted namespacing of the Parameer Service
---
.../src/d_fall_pps/src/ParameterService.cpp | 32 ++++++++++++++++++-
1 file changed, 31 insertions(+), 1 deletion(-)
diff --git a/pps_ws/src/d_fall_pps/src/ParameterService.cpp b/pps_ws/src/d_fall_pps/src/ParameterService.cpp
index d94ca277..0d5582aa 100755
--- a/pps_ws/src/d_fall_pps/src/ParameterService.cpp
+++ b/pps_ws/src/d_fall_pps/src/ParameterService.cpp
@@ -288,7 +288,6 @@ int main(int argc, char* argv[])
// the "~" indcates that "self" is the node handle assigned to this variable.
ros::NodeHandle nodeHandle("~");
- m_ros_namespace = ros::this_node::getNamespace();
// Get the value of the "type" parameter into a local string variable
std::string type_string;
@@ -327,6 +326,37 @@ int main(int argc, char* argv[])
controllerYamlReadyForFetchPublihser = nodeHandle.advertise<std_msgs::Int32>("controllerYamlReadyForFetch", 1);
+ // Construct the string to the namespace of this Paramater Service
+ // SUBSCRIBE TO THE APPROPRIATE "request" MESSAGES DEPENDING ON THE "my_type"
+ switch (my_type)
+ {
+ case TYPE_AGENT:
+ {
+ //m_ros_namespace = ros::this_node::getNamespace();
+ m_ros_namespace = "/" + std::to_string(agentID_to_follow) + "/" + "ParameterService";
+ ROS_INFO_STREAM("This Paramter Sercice will load .yaml file parameters into the 'base' namespace: " << m_ros_namespace);
+ break;
+ }
+
+ // A COORDINATOR TYPE PARAMETER SERVICE IS REQUESTED FROM:
+ // > The master GUI
+ case TYPE_COORDINATOR:
+ {
+ //m_ros_namespace = ros::this_node::getNamespace();
+ m_ros_namespace = "/" + "ParameterService";
+ ROS_INFO_STREAM("This Paramter Sercice will load .yaml file parameters into the 'base' namespace: " << m_ros_namespace);
+ break;
+ }
+
+ default:
+ {
+ ROS_ERROR("The 'my_type' type parameter was not recognised.");
+ break;
+ }
+ }
+
+
+
// Delare the subscribers as local variables here so that they persist for the life
// time of this main() function. The varaibles will be assigned in the switch case below
--
GitLab