diff --git a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
index 2a2230b3d278fb769f6c191a3dd985f958c68dd7..8625ffcb091c14f6b425f2ba42aa8056520f9e5c 100644
--- a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
@@ -1135,6 +1135,9 @@ int main(int argc, char* argv[]) {
// *********************************************************************************
// EVERYTHING THAT RELATES TO FETCHING PARAMETERS FROM A YAML FILE
+
+ // EVERYTHING FOR THE CONNECTION TO THIS AGENT's OWN PARAMETER SERVICE:
+
// 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
@@ -1143,14 +1146,6 @@ int main(int argc, char* argv[]) {
// 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);
- // Set the class variable "nodeHandle_to_coordinator_parameter_service" to be a node handle
- // for the parameter service that is running on the coordinate machine
- //std::string m_ros_namespace = ros::getNamespace();
- namespace_to_coordinator_parameter_service = "/ParameterService";
-
- // Create a node handle to the parameter service running on the coordinator machine
- ros::NodeHandle nodeHandle_to_coordinator_parameter_service = ros::NodeHandle(namespace_to_own_agent_parameter_service);
-
// Instantiate the local variable "controllerYamlReadyForFetchSubscriber" to be a
// "ros::Subscriber" type variable that subscribes to the "controllerYamlReadyForFetch" topic
// and calls the class function "yamlReadyForFetchCallback" each time a message is
@@ -1158,18 +1153,38 @@ int main(int argc, char* argv[]) {
// "yamlReadyForFetchCallback" class function.
ros::Subscriber controllerYamlReadyForFetchSubscriber_to_agent = nodeHandle_to_own_agent_parameter_service.subscribe("controllerYamlReadyForFetch", 1, yamlReadyForFetchCallback);
+
+ // EVERYTHING FOR THE CONNECTION THE COORDINATOR'S PARAMETER SERVICE:
+
+ // Set the class variable "nodeHandle_to_coordinator_parameter_service" to be a node handle
+ // for the parameter service that is running on the coordinate machine
+ //std::string m_ros_namespace = ros::getNamespace();
+ namespace_to_coordinator_parameter_service = "ParameterService";
+
+ // Create a node handle to the parameter service running on the coordinator machine
+ ros::NodeHandle nodeHandle_to_coordinator = ros::NodeHandle();
+ //ros::NodeHandle nodeHandle_to_coordinator_parameter_service = ros::NodeHandle(namespace_to_own_agent_parameter_service);
+
+
// Instantiate the local variable "controllerYamlReadyForFetchSubscriber" to be a
// "ros::Subscriber" type variable that subscribes to the "controllerYamlReadyForFetch" topic
// and calls the class function "yamlReadyForFetchCallback" each time a message is
// received on this topic and the message is passed as an input argument to the
// "yamlReadyForFetchCallback" class function.
- ros::Subscriber controllerYamlReadyForFetchSubscriber_to_coordinator = nodeHandle_to_coordinator_parameter_service.subscribe("controllerYamlReadyForFetch", 1, yamlReadyForFetchCallback);
+ ros::Subscriber controllerYamlReadyForFetchSubscriber_to_coordinator = nodeHandle_to_coordinator.subscribe("/ParameterService/controllerYamlReadyForFetch", 1, yamlReadyForFetchCallback);
+ //ros::Subscriber controllerYamlReadyForFetchSubscriber_to_coordinator = nodeHandle_to_coordinator_parameter_service.subscribe("controllerYamlReadyForFetch", 1, yamlReadyForFetchCallback);
+
+
+ // PRINT OUT SOME INFORMATION
// 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);
+
+ // FINALLY, FETCH ANY PARAMETERS REQUIRED FROM THESE "PARAMETER SERVICES"
+
// Call the class function that loads the parameters for this class.
fetchYamlParameters(nodeHandle_to_own_agent_parameter_service);
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index 20bdaa959ff785392a9c70f74f7e306298073136..f49e84f369dc0f6df045479b927bbe501d8caa66 100755
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -1003,6 +1003,9 @@ int main(int argc, char* argv[])
// Get the namespace of this "SafeControllerService" node
std::string m_namespace = ros::this_node::getNamespace();
+
+ // EVERYTHING FOR THE CONNECTION TO THIS AGENT's OWN PARAMETER SERVICE:
+
// 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
@@ -1011,14 +1014,6 @@ int main(int argc, char* argv[])
// 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);
- // Set the class variable "nodeHandle_to_coordinator_parameter_service" to be a node handle
- // for the parameter service that is running on the coordinate machine
- //std::string m_ros_namespace = ros::getNamespace();
- namespace_to_coordinator_parameter_service = "/ParameterService";
-
- // Create a node handle to the parameter service running on the coordinator machine
- ros::NodeHandle nodeHandle_to_coordinator_parameter_service = ros::NodeHandle(namespace_to_own_agent_parameter_service);
-
// Instantiate the local variable "controllerYamlReadyForFetchSubscriber" to be a
// "ros::Subscriber" type variable that subscribes to the "controllerYamlReadyForFetch" topic
// and calls the class function "yamlReadyForFetchCallback" each time a message is
@@ -1026,12 +1021,28 @@ int main(int argc, char* argv[])
// "yamlReadyForFetchCallback" class function.
ros::Subscriber controllerYamlReadyForFetchSubscriber_to_agent = nodeHandle_to_own_agent_parameter_service.subscribe("controllerYamlReadyForFetch", 1, yamlReadyForFetchCallback);
+
+ // EVERYTHING FOR THE CONNECTION THE COORDINATOR'S PARAMETER SERVICE:
+
+ // Set the class variable "nodeHandle_to_coordinator_parameter_service" to be a node handle
+ // for the parameter service that is running on the coordinate machine
+ //std::string m_ros_namespace = ros::getNamespace();
+ namespace_to_coordinator_parameter_service = "ParameterService";
+
+ // Create a node handle to the parameter service running on the coordinator machine
+ ros::NodeHandle nodeHandle_to_coordinator = ros::NodeHandle();
+ //ros::NodeHandle nodeHandle_to_coordinator_parameter_service = ros::NodeHandle(namespace_to_own_agent_parameter_service);
+
// Instantiate the local variable "controllerYamlReadyForFetchSubscriber" to be a
// "ros::Subscriber" type variable that subscribes to the "controllerYamlReadyForFetch" topic
// and calls the class function "yamlReadyForFetchCallback" each time a message is
// received on this topic and the message is passed as an input argument to the
// "yamlReadyForFetchCallback" class function.
- ros::Subscriber controllerYamlReadyForFetchSubscriber_to_coordinator = nodeHandle_to_coordinator_parameter_service.subscribe("controllerYamlReadyForFetch", 1, yamlReadyForFetchCallback);
+ ros::Subscriber controllerYamlReadyForFetchSubscriber_to_coordinator = nodeHandle_to_coordinator.subscribe("/ParameterService/controllerYamlReadyForFetch", 1, yamlReadyForFetchCallback);
+ //ros::Subscriber controllerYamlReadyForFetchSubscriber_to_coordinator = nodeHandle_to_coordinator_parameter_service.subscribe("/ParameterService/controllerYamlReadyForFetch", 1, yamlReadyForFetchCallback);
+
+
+ // FINALLY, FETCH ANY PARAMETERS REQUIRED FROM THESE "PARAMETER SERVICES"
// Call the class function that loads the parameters for this class.
fetchYamlParametersForSafeController(nodeHandle_to_own_agent_parameter_service);
diff --git a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
index 68526aa25eb575d15fdd985485de23b6bd5d8087..a9f60d67a8a65685046a05799315f78ce483e33b 100755
--- a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
@@ -578,6 +578,9 @@ int main(int argc, char* argv[]) {
// *********************************************************************************
// EVERYTHING THAT RELATES TO FETCHING PARAMETERS FROM A YAML FILE
+
+ // EVERYTHING FOR THE CONNECTION TO THIS AGENT's OWN PARAMETER SERVICE:
+
// Get the namespace of this "SafeControllerService" node
std::string m_namespace = ros::this_node::getNamespace();
@@ -589,14 +592,6 @@ int main(int argc, char* argv[]) {
// 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);
- // Set the class variable "nodeHandle_to_coordinator_parameter_service" to be a node handle
- // for the parameter service that is running on the coordinate machine
- //std::string m_ros_namespace = ros::master::getNamespace();
- namespace_to_coordinator_parameter_service = "/ParameterService";
-
- // Create a node handle to the parameter service running on the coordinator machine
- ros::NodeHandle nodeHandle_to_coordinator_parameter_service = ros::NodeHandle(namespace_to_own_agent_parameter_service);
-
// Instantiate the local variable "controllerYamlReadyForFetchSubscriber" to be a
// "ros::Subscriber" type variable that subscribes to the "controllerYamlReadyForFetch" topic
// and calls the class function "yamlReadyForFetchCallback" each time a message is
@@ -604,18 +599,38 @@ int main(int argc, char* argv[]) {
// "yamlReadyForFetchCallback" class function.
ros::Subscriber controllerYamlReadyForFetchSubscriber_to_agent = nodeHandle_to_own_agent_parameter_service.subscribe("controllerYamlReadyForFetch", 1, yamlReadyForFetchCallback);
+
+ // EVERYTHING FOR THE CONNECTION THE COORDINATOR'S PARAMETER SERVICE:
+
+ // Set the class variable "nodeHandle_to_coordinator_parameter_service" to be a node handle
+ // for the parameter service that is running on the coordinate machine
+ //std::string m_ros_namespace = ros::master::getNamespace();
+ namespace_to_coordinator_parameter_service = "ParameterService";
+
+ // Create a node handle to the parameter service running on the coordinator machine
+ ros::NodeHandle nodeHandle_to_coordinator = ros::NodeHandle();
+ //ros::NodeHandle nodeHandle_to_coordinator_parameter_service = ros::NodeHandle(namespace_to_own_agent_parameter_service);
+
+
// Instantiate the local variable "controllerYamlReadyForFetchSubscriber" to be a
// "ros::Subscriber" type variable that subscribes to the "controllerYamlReadyForFetch" topic
// and calls the class function "yamlReadyForFetchCallback" each time a message is
// received on this topic and the message is passed as an input argument to the
// "yamlReadyForFetchCallback" class function.
- ros::Subscriber controllerYamlReadyForFetchSubscriber_to_coordinator = nodeHandle_to_coordinator_parameter_service.subscribe("controllerYamlReadyForFetch", 1, yamlReadyForFetchCallback);
+ ros::Subscriber controllerYamlReadyForFetchSubscriber_to_coordinator = nodeHandle_to_coordinator.subscribe("/ParameterService/controllerYamlReadyForFetch", 1, yamlReadyForFetchCallback);
+ //ros::Subscriber controllerYamlReadyForFetchSubscriber_to_coordinator = nodeHandle_to_coordinator_parameter_service.subscribe("controllerYamlReadyForFetch", 1, yamlReadyForFetchCallback);
+
+
+ // PRINT OUT SOME INFORMATION
// 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);
+
+ // FINALLY, FETCH ANY PARAMETERS REQUIRED FROM THESE "PARAMETER SERVICES"
+
// Call the class function that loads the parameters for this class.
fetchYamlParameters(nodeHandle_to_own_agent_parameter_service);