diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
index c82fc96bf01161a5c59df58bf1edf0c5a8d7770b..fda9d841d2be9772dc10f89f5290090ec61ad480 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
@@ -106,7 +106,7 @@ ConnectStartStopBar::ConnectStartStopBar(QWidget *parent) :
// SUBSCRIBERS AND PUBLISHERS:
// > For Crazyradio commands based on button clicks
- crazyRadioCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("FlyingAgentClient/crazyRadioCommand", 1);
+ crazyRadioCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("FlyingAgentClient/CrazyRadioCommand", 1);
// > For Flying state commands based on button clicks
flyingStateCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("FlyingAgentClient/Command", 1);
@@ -126,7 +126,7 @@ ConnectStartStopBar::ConnectStartStopBar(QWidget *parent) :
batteryLevelSubscriber = base_nodeHandle.subscribe("BatteryMonitor/Level", 1, &ConnectStartStopBar::batteryLevelCallback, this);
// > For updating the "flying_state_label" picture
- flyingStateSubscriber = base_nodeHandle.subscribe("FlyingAgentClient/flyingState", 1, &ConnectStartStopBar::flyingStateChangedCallback, this);
+ flyingStateSubscriber = base_nodeHandle.subscribe("FlyingAgentClient/FlyingState", 1, &ConnectStartStopBar::flyingStateChangedCallback, this);
}
#endif
@@ -614,10 +614,10 @@ void ConnectStartStopBar::setAgentIDsToCoordinate(QVector<int> agentIDs , bool s
ros::NodeHandle agent_base_nodeHandle(agent_base_namespace.toStdString());
// > Request the current flying state
- ros::ServiceClient getCurrentFlyingStateService = agent_base_nodeHandle.serviceClient<dfall_pkg::IntIntService>("FlyingAgentClient/getCurrentFlyingState", false);
+ ros::ServiceClient getCurrentFlyingStateService = agent_base_nodeHandle.serviceClient<dfall_pkg::IntIntService>("FlyingAgentClient/GetCurrentFlyingState", false);
dfall_pkg::IntIntService getFlyingStateCall;
getFlyingStateCall.request.data = 0;
- getCurrentFlyingStateService.waitForExistence(ros::Duration(2.0));
+ getCurrentFlyingStateService.waitForExistence(ros::Duration(0.0));
if(getCurrentFlyingStateService.call(getFlyingStateCall))
{
setFlyingState(getFlyingStateCall.response.data);
@@ -631,7 +631,7 @@ void ConnectStartStopBar::setAgentIDsToCoordinate(QVector<int> agentIDs , bool s
ros::ServiceClient getCurrentCrazyRadioStateService = agent_base_nodeHandle.serviceClient<dfall_pkg::IntIntService>("CrazyRadio/getCurrentCrazyRadioStatus", false);
dfall_pkg::IntIntService getCrazyRadioCall;
getCrazyRadioCall.request.data = 0;
- getCurrentCrazyRadioStateService.waitForExistence(ros::Duration(2.0));
+ getCurrentCrazyRadioStateService.waitForExistence(ros::Duration(0.0));
if(getCurrentCrazyRadioStateService.call(getCrazyRadioCall))
{
setCrazyRadioStatus(getCrazyRadioCall.response.data);
@@ -654,7 +654,7 @@ void ConnectStartStopBar::setAgentIDsToCoordinate(QVector<int> agentIDs , bool s
batteryLevelSubscriber = agent_base_nodeHandle.subscribe("BatteryMonitor/Level", 1, &ConnectStartStopBar::batteryLevelCallback, this);
// > For updating the "flying_state_label" picture
- flyingStateSubscriber = agent_base_nodeHandle.subscribe("FlyingAgentClient/flyingState", 1, &ConnectStartStopBar::flyingStateChangedCallback, this);
+ flyingStateSubscriber = agent_base_nodeHandle.subscribe("FlyingAgentClient/FlyingState", 1, &ConnectStartStopBar::flyingStateChangedCallback, this);
}
else
{
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
index f2ca9793e3e370064f0162867ee9a828dcf7f4e5..2df07eab75409198fadb8b416ea1e0a4539bde84 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
@@ -209,7 +209,7 @@ ControllerTabs::ControllerTabs(QWidget *parent) :
// Only if this is an agent GUI
if (m_type == TYPE_AGENT)
{
- controllerUsedSubscriber = nodeHandle_for_this_gui.subscribe("FlyingAgentClient/controllerUsed", 1, &ControllerTabs::controllerUsedChangedCallback, this);
+ controllerUsedSubscriber = nodeHandle_for_this_gui.subscribe("FlyingAgentClient/ControllerUsed", 1, &ControllerTabs::controllerUsedChangedCallback, this);
}
@@ -218,7 +218,7 @@ ControllerTabs::ControllerTabs(QWidget *parent) :
ros::NodeHandle dfall_root_nodeHandle("/dfall");
// > Publisher for the emergency stop button
- //emergencyStopPublisher = dfall_root_nodeHandle.advertise<dfall_pkg::IntWithHeader>("emergencyStop", 1);
+ //emergencyStopPublisher = dfall_root_nodeHandle.advertise<dfall_pkg::IntWithHeader>("EmergencyStop", 1);
// > For changes in the database that defines {agentID,cfID,flying zone} links
//databaseChangedSubscriber = dfall_root_nodeHandle.subscribe("CentralManagerService/DBChanged", 1, &TopBanner::databaseChangedCallback, this);;
@@ -560,10 +560,10 @@ void ControllerTabs::setAgentIDsToCoordinate(QVector<int> agentIDs , bool should
// > Request the current instant controller
- ros::ServiceClient getInstantControllerService = agent_base_nodeHandle.serviceClient<dfall_pkg::IntIntService>("FlyingAgentClient/getInstantController", false);
+ ros::ServiceClient getInstantControllerService = agent_base_nodeHandle.serviceClient<dfall_pkg::IntIntService>("FlyingAgentClient/GetInstantController", false);
dfall_pkg::IntIntService getInstantControllerCall;
getInstantControllerCall.request.data = 0;
- getInstantControllerService.waitForExistence(ros::Duration(2.0));
+ getInstantControllerService.waitForExistence(ros::Duration(0.1));
if(getInstantControllerService.call(getInstantControllerCall))
{
setControllerEnabled(getInstantControllerCall.response.data);
@@ -575,7 +575,7 @@ void ControllerTabs::setAgentIDsToCoordinate(QVector<int> agentIDs , bool should
// SUBSCRIBERS
// > For receiving message that the instant controller was changed
- controllerUsedSubscriber = agent_base_nodeHandle.subscribe("FlyingAgentClient/controllerUsed", 1, &ControllerTabs::controllerUsedChangedCallback, this);
+ controllerUsedSubscriber = agent_base_nodeHandle.subscribe("FlyingAgentClient/ControllerUsed", 1, &ControllerTabs::controllerUsedChangedCallback, this);
}
else
{
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp
index b6d60f69027d02249278daa7a449ac0c111beb90..eb55555bc6b40e703d2f6ec23c5d8113aea52005 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp
@@ -109,7 +109,7 @@ CoordinatorRow::CoordinatorRow(QWidget *parent, int agentID) :
// SUBSCRIBERS AND PUBLISHERS:
// > For Crazyradio commands based on button clicks
- crazyRadioCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("FlyingAgentClient/crazyRadioCommand", 1);
+ crazyRadioCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("FlyingAgentClient/CrazyRadioCommand", 1);
// > For updating the "rf_status_label" picture
crazyRadioStatusSubscriber = base_nodeHandle.subscribe("CrazyRadio/CrazyRadioStatus", 1, &CoordinatorRow::crazyRadioStatusCallback, this);
@@ -123,18 +123,18 @@ CoordinatorRow::CoordinatorRow(QWidget *parent, int agentID) :
// > For Flying state commands based on button clicks
flyingStateCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("FlyingAgentClient/Command", 1);
// > For updating the "flying_state_label" picture
- flyingStateSubscriber = base_nodeHandle.subscribe("FlyingAgentClient/flyingState", 1, &CoordinatorRow::flyingStateChangedCallback, this);
+ flyingStateSubscriber = base_nodeHandle.subscribe("FlyingAgentClient/FlyingState", 1, &CoordinatorRow::flyingStateChangedCallback, this);
// > For changes in the database that defines {agentID,cfID,flying zone} links
databaseChangedSubscriber = dfall_root_nodeHandle.subscribe("CentralManagerService/DBChanged", 1, &CoordinatorRow::databaseChangedCallback, this);;
centralManagerDatabaseService = dfall_root_nodeHandle.serviceClient<dfall_pkg::CMQuery>("CentralManagerService/Query", false);
// > For updating the controller that is currently operating
- controllerUsedSubscriber = base_nodeHandle.subscribe("FlyingAgentClient/controllerUsed", 1, &CoordinatorRow::controllerUsedChangedCallback, this);
+ controllerUsedSubscriber = base_nodeHandle.subscribe("FlyingAgentClient/ControllerUsed", 1, &CoordinatorRow::controllerUsedChangedCallback, this);
// > For requesting the current flying state,
// this is used only for initialising the icon
- getCurrentFlyingStateService = base_nodeHandle.serviceClient<dfall_pkg::IntIntService>("FlyingAgentClient/getCurrentFlyingState", false);
+ getCurrentFlyingStateService = base_nodeHandle.serviceClient<dfall_pkg::IntIntService>("FlyingAgentClient/GetCurrentFlyingState", false);
// > For requesting the current state of the Crazy Radio,
// this is used only for initialising the icon
@@ -649,7 +649,7 @@ void CoordinatorRow::getCurrentFlyingState()
#ifdef CATKIN_MAKE
dfall_pkg::IntIntService getFlyingStateCall;
getFlyingStateCall.request.data = 0;
- getCurrentFlyingStateService.waitForExistence(ros::Duration(2.0));
+ getCurrentFlyingStateService.waitForExistence(ros::Duration(0.0));
if(getCurrentFlyingStateService.call(getFlyingStateCall))
{
setFlyingState(getFlyingStateCall.response.data);
@@ -669,7 +669,7 @@ void CoordinatorRow::getCurrentCrazyRadioState()
#ifdef CATKIN_MAKE
dfall_pkg::IntIntService getCrazyRadioCall;
getCrazyRadioCall.request.data = 0;
- getCurrentCrazyRadioStateService.waitForExistence(ros::Duration(2.0));
+ getCurrentCrazyRadioStateService.waitForExistence(ros::Duration(0.0));
if(getCurrentCrazyRadioStateService.call(getCrazyRadioCall))
{
setCrazyRadioStatus(getCrazyRadioCall.response.data);
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp
index 3f1658e670038ef4690d590070a55b7b5f7b4465..7ee1c19afdc374c922093685d23670dfb8dab710 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp
@@ -179,7 +179,7 @@ CsoneControllerTab::CsoneControllerTab(QWidget *parent) :
ros::ServiceClient getCurrentSetpointServiceClient = nodeHandle_for_this_gui.serviceClient<dfall_pkg::GetSetpointService>("CsoneControllerService/GetCurrentSetpoint", false);
dfall_pkg::GetSetpointService getSetpointCall;
getSetpointCall.request.data = 0;
- getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
+ getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.1));
if(getCurrentSetpointServiceClient.call(getSetpointCall))
{
setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
@@ -194,7 +194,7 @@ CsoneControllerTab::CsoneControllerTab(QWidget *parent) :
ros::ServiceClient getCurrentIntegatorStateServiceClient = nodeHandle_for_this_gui.serviceClient<dfall_pkg::IntIntService>("CsoneControllerService/GetCurrentIntegratorState", false);
dfall_pkg::IntIntService getIntegrtorStateCall;
getIntegrtorStateCall.request.data = 0;
- getCurrentIntegatorStateServiceClient.waitForExistence(ros::Duration(2.0));
+ getCurrentIntegatorStateServiceClient.waitForExistence(ros::Duration(0.1));
if(getCurrentIntegatorStateServiceClient.call(getIntegrtorStateCall))
{
dfall_pkg::IntWithHeader temp_msg;
@@ -1100,7 +1100,7 @@ void CsoneControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool sh
ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<dfall_pkg::GetSetpointService>("CsoneControllerService/GetCurrentSetpoint", false);
dfall_pkg::GetSetpointService getSetpointCall;
getSetpointCall.request.data = 0;
- getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
+ getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.0));
if(getCurrentSetpointServiceClient.call(getSetpointCall))
{
setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
index 4170841a634141710fce641984b6e8f3f6dbf1ac..7904b231a353462038bc78e437a2ee8707ce4377 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
@@ -92,7 +92,7 @@ DefaultControllerTab::DefaultControllerTab(QWidget *parent) :
ros::ServiceClient getCurrentSetpointServiceClient = nodeHandle_for_this_gui.serviceClient<dfall_pkg::GetSetpointService>("DefaultControllerService/GetCurrentSetpoint", false);
dfall_pkg::GetSetpointService getSetpointCall;
getSetpointCall.request.data = 0;
- getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
+ getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.1));
if(getCurrentSetpointServiceClient.call(getSetpointCall))
{
setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
@@ -676,7 +676,7 @@ void DefaultControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool
ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<dfall_pkg::GetSetpointService>("DefaultControllerService/GetCurrentSetpoint", false);
dfall_pkg::GetSetpointService getSetpointCall;
getSetpointCall.request.data = 0;
- getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
+ getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.0));
if(getCurrentSetpointServiceClient.call(getSetpointCall))
{
setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/pickercontrollertab.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/pickercontrollertab.cpp
index f90b07f4c9ded2fb6ef36296e73d9baf71489cc1..0375c8f6901d39e108bcc4bff4a0c3fad2808c48 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/pickercontrollertab.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/pickercontrollertab.cpp
@@ -164,7 +164,7 @@ PickerControllerTab::PickerControllerTab(QWidget *parent) :
ros::ServiceClient getCurrentSetpointServiceClient = nodeHandle_for_this_gui.serviceClient<dfall_pkg::GetSetpointService>("PickerControllerService/GetCurrentSetpoint", false);
dfall_pkg::GetSetpointService getSetpointCall;
getSetpointCall.request.data = 0;
- getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
+ getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.1));
if(getCurrentSetpointServiceClient.call(getSetpointCall))
{
setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
@@ -1829,7 +1829,7 @@ void PickerControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool s
ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<dfall_pkg::GetSetpointService>("PickerControllerService/GetCurrentSetpoint", false);
dfall_pkg::GetSetpointService getSetpointCall;
getSetpointCall.request.data = 0;
- getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
+ getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.0));
if(getCurrentSetpointServiceClient.call(getSetpointCall))
{
setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/remotecontrollertab.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/remotecontrollertab.cpp
index c897cd9364fbd0e05aed68e79da47cd695551f54..38385a277d9f12e0c75f65616fc3d0fad972e4e5 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/remotecontrollertab.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/remotecontrollertab.cpp
@@ -96,7 +96,7 @@ RemoteControllerTab::RemoteControllerTab(QWidget *parent) :
// ros::ServiceClient getCurrentSetpointServiceClient = nodeHandle_for_this_gui.serviceClient<dfall_pkg::GetSetpointService>("RemoteControllerService/GetCurrentSetpoint", false);
// dfall_pkg::GetSetpointService getSetpointCall;
// getSetpointCall.request.data = 0;
-// getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
+// getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.1));
// if(getCurrentSetpointServiceClient.call(getSetpointCall))
// {
// setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
@@ -582,7 +582,7 @@ void RemoteControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool s
ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<dfall_pkg::GetSetpointService>("RemoteControllerService/GetCurrentSetpoint", false);
dfall_pkg::GetSetpointService getSetpointCall;
getSetpointCall.request.data = 0;
- getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
+ getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.0));
if(getCurrentSetpointServiceClient.call(getSetpointCall))
{
setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp
index 440daaac14f06788852f06f82dad300ce0294510..64207a97bc6be97ef37307dffa36f2ffa8044cad 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp
@@ -92,7 +92,7 @@ StudentControllerTab::StudentControllerTab(QWidget *parent) :
ros::ServiceClient getCurrentSetpointServiceClient = nodeHandle_for_this_gui.serviceClient<dfall_pkg::GetSetpointService>("StudentControllerService/GetCurrentSetpoint", false);
dfall_pkg::GetSetpointService getSetpointCall;
getSetpointCall.request.data = 0;
- getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
+ getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.1));
if(getCurrentSetpointServiceClient.call(getSetpointCall))
{
setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
@@ -713,7 +713,7 @@ void StudentControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool
ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<dfall_pkg::GetSetpointService>("StudentControllerService/GetCurrentSetpoint", false);
dfall_pkg::GetSetpointService getSetpointCall;
getSetpointCall.request.data = 0;
- getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
+ getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.0));
if(getCurrentSetpointServiceClient.call(getSetpointCall))
{
setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/templatecontrollertab.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/templatecontrollertab.cpp
index b0da98f058131f3786ae24f33120be55ea9254aa..24f9fb07fedae441a7de3f94e035e811fc603062 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/templatecontrollertab.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/templatecontrollertab.cpp
@@ -92,7 +92,7 @@ TemplateControllerTab::TemplateControllerTab(QWidget *parent) :
ros::ServiceClient getCurrentSetpointServiceClient = nodeHandle_for_this_gui.serviceClient<dfall_pkg::GetSetpointService>("TemplateControllerService/GetCurrentSetpoint", false);
dfall_pkg::GetSetpointService getSetpointCall;
getSetpointCall.request.data = 0;
- getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
+ getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.1));
if(getCurrentSetpointServiceClient.call(getSetpointCall))
{
setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
@@ -465,7 +465,7 @@ void TemplateControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool
ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<dfall_pkg::GetSetpointService>("TemplateControllerService/GetCurrentSetpoint", false);
dfall_pkg::GetSetpointService getSetpointCall;
getSetpointCall.request.data = 0;
- getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
+ getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.0));
if(getCurrentSetpointServiceClient.call(getSetpointCall))
{
setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/topbanner.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
index 2b29975009c2617d65959f6a80f34e63232d5506..baa47e7b143d517fe4eb0bf530d660786450994d 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
@@ -93,7 +93,7 @@ TopBanner::TopBanner(QWidget *parent) :
ros::NodeHandle dfall_root_nodeHandle("/dfall");
// > Publisher for the emergency stop button
- emergencyStopPublisher = dfall_root_nodeHandle.advertise<dfall_pkg::IntWithHeader>("emergencyStop", 1);
+ emergencyStopPublisher = dfall_root_nodeHandle.advertise<dfall_pkg::IntWithHeader>("EmergencyStop", 1);
// > For changes in the database that defines {agentID,cfID,flying zone} links
databaseChangedSubscriber = dfall_root_nodeHandle.subscribe("CentralManagerService/DBChanged", 1, &TopBanner::databaseChangedCallback, this);;
@@ -184,7 +184,7 @@ void TopBanner::loadCrazyflieContext(int ID_to_request_from_database , int emit_
contextCall.request.studentID = ID_to_request_from_database;
//ROS_INFO_STREAM("StudentID:" << m_agentID);
- centralManagerDatabaseService.waitForExistence(ros::Duration(2));
+ centralManagerDatabaseService.waitForExistence(ros::Duration(2.0));
if(centralManagerDatabaseService.call(contextCall))
{
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/tuningcontrollertab.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/tuningcontrollertab.cpp
index 6c1bf28f4abaa2a48a0923622eb95a70cf6769c5..f6578b3217df7ee6b9f04c7250610a5fb9e88b16 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/tuningcontrollertab.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/tuningcontrollertab.cpp
@@ -108,7 +108,7 @@ TuningControllerTab::TuningControllerTab(QWidget *parent) :
// ros::ServiceClient getCurrentSetpointServiceClient = nodeHandle_for_this_gui.serviceClient<dfall_pkg::GetSetpointService>("TuningControllerService/GetCurrentSetpoint", false);
// dfall_pkg::GetSetpointService getSetpointCall;
// getSetpointCall.request.data = 0;
-// getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
+// getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.1));
// if(getCurrentSetpointServiceClient.call(getSetpointCall))
// {
// setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
@@ -507,7 +507,7 @@ void TuningControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool s
// ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<dfall_pkg::GetSetpointService>("TuningControllerService/GetCurrentSetpoint", false);
// dfall_pkg::GetSetpointService getSetpointCall;
// getSetpointCall.request.data = 0;
-// getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
+// getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.0));
// if(getCurrentSetpointServiceClient.call(getSetpointCall))
// {
// setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/src/mainguiwindow.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/src/mainguiwindow.cpp
index 1c6173bfed1383d55b84f8f2929f24e321fd8922..54a48fd33531ee46a519240ee06374ffd84685a6 100755
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/src/mainguiwindow.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/src/mainguiwindow.cpp
@@ -279,7 +279,7 @@ void MainGUIWindow::_init()
// CREATE A NODE HANDLE TO THE ROOT OF THE D-FaLL SYSTEM
ros::NodeHandle nodeHandle_dfall_root("/dfall");
- emergencyStopPublisher = nodeHandle_dfall_root.advertise<dfall_pkg::IntWithHeader>("emergencyStop", 1);
+ emergencyStopPublisher = nodeHandle_dfall_root.advertise<dfall_pkg::IntWithHeader>("EmergencyStop", 1);
#endif
}
diff --git a/dfall_ws/src/dfall_pkg/crazyradio/CrazyRadio.py b/dfall_ws/src/dfall_pkg/crazyradio/CrazyRadio.py
index 3345d60630b2e7832208a8a8eda1989d4c244cd7..25d02f977e2b75257fa726e6d786869bdae6104a 100755
--- a/dfall_ws/src/dfall_pkg/crazyradio/CrazyRadio.py
+++ b/dfall_ws/src/dfall_pkg/crazyradio/CrazyRadio.py
@@ -413,9 +413,9 @@ if __name__ == '__main__':
# Subscribe to the commands for when to (dis-)connect the
# CrazyRadio connection with the Crazyflie
# > For the radio commands from the FlyingAgentClient of this agent
- rospy.Subscriber("FlyingAgentClient/crazyRadioCommand", IntWithHeader, cf_client.crazyRadioCommandCallback)
+ rospy.Subscriber("FlyingAgentClient/CrazyRadioCommand", IntWithHeader, cf_client.crazyRadioCommandCallback)
# > For the radio command from the coordinator
- rospy.Subscriber("/dfall/coord" + coordID_as_string + "/FlyingAgentClient/crazyRadioCommand", IntWithHeader, cf_client.crazyRadioCommandCallback)
+ rospy.Subscriber("/dfall/coord" + coordID_as_string + "/FlyingAgentClient/CrazyRadioCommand", IntWithHeader, cf_client.crazyRadioCommandCallback)
# Advertise a Serice for the current status
diff --git a/dfall_ws/src/dfall_pkg/crazyradio/TestCF.py b/dfall_ws/src/dfall_pkg/crazyradio/TestCF.py
index f955bd2c0388996340f9729b490474e10be1aa58..9598f8522e074e78f73cda20bb755eeb318cdf9e 100755
--- a/dfall_ws/src/dfall_pkg/crazyradio/TestCF.py
+++ b/dfall_ws/src/dfall_pkg/crazyradio/TestCF.py
@@ -223,7 +223,7 @@ if __name__ == '__main__':
global cf_client
cf_client = CrazyRadioClient()
- # rospy.Subscriber("FlyingAgentClient/crazyRadioCommand", Int32, cf_client.crazyRadioCommandCallback) # allows commands from scripts
+ # rospy.Subscriber("FlyingAgentClient/CrazyRadioCommand", Int32, cf_client.crazyRadioCommandCallback) # allows commands from scripts
# time.sleep(1.0)
diff --git a/dfall_ws/src/dfall_pkg/src/classes/QuadrotorSimulator.cpp b/dfall_ws/src/dfall_pkg/src/classes/QuadrotorSimulator.cpp
index 4741dde7ffc5fafbbd15e1499d43a1e5bcb5dd48..ff922c8fb7b3048a4ff5003280478d36cef5cf2a 100644
--- a/dfall_ws/src/dfall_pkg/src/classes/QuadrotorSimulator.cpp
+++ b/dfall_ws/src/dfall_pkg/src/classes/QuadrotorSimulator.cpp
@@ -453,7 +453,7 @@ void QuadrotorSimulator::subscribe_to_commanding_agent_id( int commanding_agent_
// Subscribe to the flying state updates of the
// commanding agent
- flyingStateUpdatesOfCommandingAgentSubscriber = nodeHandle.subscribe("/dfall/agent" + commanding_agent_id_as_string + "/FlyingAgentClient/flyingState", 1, &QuadrotorSimulator::flying_state_update_of_commanding_agent_callback, this );
+ flyingStateUpdatesOfCommandingAgentSubscriber = nodeHandle.subscribe("/dfall/agent" + commanding_agent_id_as_string + "/FlyingAgentClient/FlyingState", 1, &QuadrotorSimulator::flying_state_update_of_commanding_agent_callback, this );
// Inform to user
ROS_INFO_STREAM("[QUADROTOR SIMULATOR] Quadrotor \"" << this->m_id_string << "\" now subscribed to commands from agent with ID " << commanding_agent_id_as_string);
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/BatteryMonitor.cpp b/dfall_ws/src/dfall_pkg/src/nodes/BatteryMonitor.cpp
index bf0af4453af893b840ef497f19ff3a472912587e..93f5a305abf457a3f457884c29998b656dedb357 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/BatteryMonitor.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/BatteryMonitor.cpp
@@ -523,7 +523,7 @@ int main(int argc, char* argv[])
ros::Subscriber crazyRadioStatusSubscriber = nodeHandle_to_crazyradio.subscribe("CrazyRadioStatus", 1, crazyRadioStatusCallback);
// Subscribe to the flying state of the agent
- ros::Subscriber agentOperatingStateSubscriber = nodeHandle_to_FlyingAgentClient.subscribe("flyingState", 1, agentOperatingStateCallback);
+ ros::Subscriber agentOperatingStateSubscriber = nodeHandle_to_FlyingAgentClient.subscribe("FlyingState", 1, agentOperatingStateCallback);
// Initialise the operating state
m_agent_operating_state = AGENT_OPERATING_STATE_MOTORS_OFF;
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/CrazyRadioEmulator.cpp b/dfall_ws/src/dfall_pkg/src/nodes/CrazyRadioEmulator.cpp
index 19fb02d244743c1355839469b0e3402f2bcb3161..f056425244ab54703064bec427a62bf31c07f615 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/CrazyRadioEmulator.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/CrazyRadioEmulator.cpp
@@ -534,9 +534,9 @@ int main(int argc, char* argv[])
// Subscriber to the commands for when to (dis-)connect the
// CrazyRadio connection with the Crazyflie
// > For the radio commands from the FlyingAgentClient of this agent
- ros::Subscriber crazyRadioCommandSubscriber = nodeHandle_to_FlyingAgentClient.subscribe("crazyRadioCommand", 1, crazyRadioCommandCallback);
+ ros::Subscriber crazyRadioCommandSubscriber = nodeHandle_to_FlyingAgentClient.subscribe("CrazyRadioCommand", 1, crazyRadioCommandCallback);
// > For the radio command from the coordinator
- ros::Subscriber crazyRadioCommandFromCoordSubscriber = nodeHandle_to_coordinator.subscribe("FlyingAgentClient/crazyRadioCommand", 1, crazyRadioCommandCallback);
+ ros::Subscriber crazyRadioCommandFromCoordSubscriber = nodeHandle_to_coordinator.subscribe("FlyingAgentClient/CrazyRadioCommand", 1, crazyRadioCommandCallback);
// Subscriber for the "Control Commands" received from the Flying Agent Client
ros::Subscriber controlCommandsSubscriber = nodeHandle_to_FlyingAgentClient.subscribe("ControlCommand", 1, controlCommandCallback);
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/FlyingAgentClient.cpp b/dfall_ws/src/dfall_pkg/src/nodes/FlyingAgentClient.cpp
index 488e8e8d221aa44fcb5c339c60978253759ead20..e06138303ac1b149b65502d52b1233b3a47588d5 100755
--- a/dfall_ws/src/dfall_pkg/src/nodes/FlyingAgentClient.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/FlyingAgentClient.cpp
@@ -1597,7 +1597,7 @@ int main(int argc, char* argv[])
// EMERGENCY STOP OF THE WHOLE "D-FaLL-System"
- ros::Subscriber emergencyStopSubscriber = nodeHandle_dfall_root.subscribe("emergencyStop", 1, emergencyStopReceivedCallback);
+ ros::Subscriber emergencyStopSubscriber = nodeHandle_dfall_root.subscribe("EmergencyStop", 1, emergencyStopReceivedCallback);
// LOCALISATION DATA FROM MOTION CAPTURE SYSTEM
@@ -1624,20 +1624,20 @@ int main(int argc, char* argv[])
// i.e., {CONNECT,DISCONNECT}
// This topic lets us use the terminal to communicate with
// the crazyRadio node even when the GUI is not launched
- m_crazyRadioCommandPublisher = nodeHandle.advertise<IntWithHeader>("crazyRadioCommand", 1);
+ m_crazyRadioCommandPublisher = nodeHandle.advertise<IntWithHeader>("CrazyRadioCommand", 1);
// PUBLISHER FOR THE FLYING STATE
// Possible states: {MOTORS-OFF,TAKE-OFF,FLYING,LAND}
// This topic will publish flying state whenever it changes.
- m_flyingStatePublisher = nodeHandle.advertise<std_msgs::Int32>("flyingState", 1);
+ m_flyingStatePublisher = nodeHandle.advertise<std_msgs::Int32>("FlyingState", 1);
// PUBLISHER FOR THE CONTROLLER CURRENTLY IN USE
// This publishes the "m_instant_controller" variable
// to reflect the controller that is actually called
// when motion capture data is received.
- m_controllerUsedPublisher = nodeHandle.advertise<std_msgs::Int32>("controllerUsed", 1);
+ m_controllerUsedPublisher = nodeHandle.advertise<std_msgs::Int32>("ControllerUsed", 1);
// SUBSCRIBER FOR CRAZY RADIO STATUS CHANGES
@@ -1667,13 +1667,13 @@ int main(int argc, char* argv[])
// SERVICE SERVER FOR OTHERS TO GET THE CURRENT FLYING STATE
// Advertise the service that return the "m_flying_state"
// variable when called upon
- ros::ServiceServer getCurrentFlyingStateService = nodeHandle.advertiseService("getCurrentFlyingState", getCurrentFlyingStateServiceCallback);
+ ros::ServiceServer getCurrentFlyingStateService = nodeHandle.advertiseService("GetCurrentFlyingState", getCurrentFlyingStateServiceCallback);
// SERVICE SERVER FOR OTHERS TO GET THE INSTANT CONTROLLER
// Advertise the service that return the "m_instant_controller"
// variable when called upon
- ros::ServiceServer getInstantControllerService = nodeHandle.advertiseService("getInstantcontroller", getInstantControllerServiceCallback);
+ ros::ServiceServer getInstantControllerService = nodeHandle.advertiseService("GetInstantController", getInstantControllerServiceCallback);