From 7fadfabaa7e2ca1d10821203f6cc66e14d846de8 Mon Sep 17 00:00:00 2001
From: roangel <roangel@student.ethz.ch>
Date: Tue, 22 Aug 2017 11:59:17 +0200
Subject: [PATCH] Now we publish in name of PPSClient from GUI :)
---
.../src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp | 8 ++++++--
pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py | 1 -
2 files changed, 6 insertions(+), 3 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
index f045fb52..63c3f271 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
@@ -1,5 +1,6 @@
#include "MainWindow.h"
#include "ui_MainWindow.h"
+#include <string>
#include <ros/ros.h>
#include <ros/network.h>
@@ -15,9 +16,12 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
qRegisterMetaType<ptrToMessage>("ptrToMessage");
QObject::connect(m_rosNodeThread, SIGNAL(newViconData(const ptrToMessage&)), this, SLOT(updateNewViconData(const ptrToMessage&)));
- ros::NodeHandle nh("~");
+ std::string ros_namespace = ros::this_node::getNamespace();
+ ROS_INFO("namespace: %s", ros_namespace.c_str());
- crazyRadioCommandPublisher = nh.advertise<std_msgs::Int32>("crazyRadioCommand", 1);
+ ros::NodeHandle nh_PPSClient(ros_namespace + "/PPSClient");
+
+ crazyRadioCommandPublisher = nh_PPSClient.advertise<std_msgs::Int32>("crazyRadioCommand", 1);
}
MainWindow::~MainWindow()
diff --git a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
index 75b5191e..54986be4 100755
--- a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
@@ -211,7 +211,6 @@ if __name__ == '__main__':
global cf_client
cf_client = PPSRadioClient(radio_address)
- rospy.Subscriber("student_GUI/crazyRadioCommand", Int32, cf_client.crazyRadioCommandCallback) # allows commands from student_GUI
rospy.Subscriber("PPSClient/crazyRadioCommand", Int32, cf_client.crazyRadioCommandCallback) # allows commands from scripts
time.sleep(1.0)
--
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