From a91b8a5b521aa5141400e47aa2b5953b66f49239 Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Tue, 5 Dec 2017 06:51:03 +0100
Subject: [PATCH] Debugging namespace to get proper Parameter Service
connections
---
pps_ws/src/d_fall_pps/src/ParameterService.cpp | 9 +++++----
1 file changed, 5 insertions(+), 4 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/src/ParameterService.cpp b/pps_ws/src/d_fall_pps/src/ParameterService.cpp
index 543c9c16..ab851e3e 100755
--- a/pps_ws/src/d_fall_pps/src/ParameterService.cpp
+++ b/pps_ws/src/d_fall_pps/src/ParameterService.cpp
@@ -323,13 +323,13 @@ int main(int argc, char* argv[])
ROS_ERROR("Failed to get agentID from ParameterService");
}
+
// Publisher that notifies the relevant nodes when the YAML paramters have been loaded
// from file into ram/cache, and hence are ready to be fetched
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:
@@ -360,6 +360,7 @@ int main(int argc, char* argv[])
+ // SUBSCRIBE TO THE APPROPRIATE "request" MESSAGES DEPENDING ON THE "my_type"
// 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
// > Subscribers for when this Parameter Service node is: TYPE_AGENT
@@ -386,7 +387,7 @@ int main(int argc, char* argv[])
// > First: construct a node handle to the coordinator
ros::NodeHandle nh_coordinator_for_this_agent = ros::NodeHandle();
// > Second: Subscribe to the "requestLoadControllerYaml" topic
- requestLoadControllerYamlSubscriber_agent_to_coordinator = nh_coordinator_for_this_agent.subscribe("my_GUI/requestLoadControllerYaml", 1, requestLoadControllerYamlCallback);
+ requestLoadControllerYamlSubscriber_agent_to_coordinator = nh_coordinator_for_this_agent.subscribe("/my_GUI/requestLoadControllerYaml", 1, requestLoadControllerYamlCallback);
// Inform the user what was subscribed to:
ROS_INFO_STREAM("This Parameter Service has subscribed to 'requestLoadControllerYaml' messages from both the 'my_GUI' and the 'PPSClient'");
@@ -399,9 +400,9 @@ int main(int argc, char* argv[])
{
// Subscribing to the coordinator's own "my_GUI"
// > First: Get the node handle required
- ros::NodeHandle nh_coordinator_for_this_coordinator(ros::this_node::getNamespace());
+ ros::NodeHandle nh_coordinator_for_this_coordinator = ros::NodeHandle();
// > Second: Subscribe to requests from: the master GUI
- requestLoadControllerYamlSubscriber_coordinator_to_self = nh_coordinator_for_this_coordinator.subscribe("my_GUI/requestLoadControllerYaml", 1, requestLoadControllerYamlCallback);
+ requestLoadControllerYamlSubscriber_coordinator_to_self = nh_coordinator_for_this_coordinator.subscribe("/my_GUI/requestLoadControllerYaml", 1, requestLoadControllerYamlCallback);
// Inform the user what was subscribed to:
ROS_INFO_STREAM("This Parameter Service has subscribed to 'requestLoadControllerYaml' messages from 'my_GUI'");
--
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