From 6991a34457e9c5e26874f158cb14767970ddc86c Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Mon, 4 Dec 2017 17:30:36 +0100
Subject: [PATCH] Adjusted namespacing from the Parameter Service of the
coordinator and to link with the Custom Controller
---
pps_ws/src/d_fall_pps/param/SafeController.yaml | 2 +-
pps_ws/src/d_fall_pps/src/CustomControllerService.cpp | 7 ++++++-
2 files changed, 7 insertions(+), 2 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/param/SafeController.yaml b/pps_ws/src/d_fall_pps/param/SafeController.yaml
index 60efb448..d0e01482 100644
--- a/pps_ws/src/d_fall_pps/param/SafeController.yaml
+++ b/pps_ws/src/d_fall_pps/param/SafeController.yaml
@@ -1,5 +1,5 @@
#equlibrium offset
-mass : 29
+mass : 30
#quadratic motor regression equation (a0, a1, a2)
motorPoly: [5.484560e-4, 1.032633e-6, 2.130295e-11]
diff --git a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
index 6791781e..d13baf1b 100644
--- a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
@@ -1138,7 +1138,7 @@ int main(int argc, char* argv[]) {
// Set the class variable "namespace_to_own_agent_parameter_service" to be a the
// namespace string for the parameter service that is running on the machine of this
// agent
- namespace_to_own_agent_parameter_service = "ParameterService";
+ namespace_to_own_agent_parameter_service = m_namespace + "/ParameterService";
// Create a node handle to the parameter service running on this agent's machine
ros::NodeHandle nodeHandle_to_own_agent_parameter_service(namespace_to_own_agent_parameter_service);
@@ -1165,6 +1165,11 @@ int main(int argc, char* argv[]) {
// "yamlReadyForFetchCallback" class function.
ros::Subscriber controllerYamlReadyForFetchSubscriber_to_coordinator = nodeHandle_to_coordinator_parameter_service.subscribe("controllerYamlReadyForFetch", 1, yamlReadyForFetchCallback);
+ // Let the user know what namespaces are being used for linking to the parameter service
+ ROS_INFO_STREAM("The namespace string for accessing the Paramter Services are:");
+ ROS_INFO_STREAM("namespace_to_own_agent_parameter_service = " << namespace_to_own_agent_parameter_service);
+ ROS_INFO_STREAM("namespace_to_coordinator_parameter_service = " << namespace_to_coordinator_parameter_service);
+
// Call the class function that loads the parameters for this class.
fetchYamlParameters(nodeHandle_to_own_agent_parameter_service);
--
GitLab