From b587dec666fee4262e9ab8bf4492d767d02044a1 Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Mon, 4 Dec 2017 17:16:54 +0100
Subject: [PATCH] Adjusted namespacing from the Safe Controller to link with
the Parameer Service
---
pps_ws/src/d_fall_pps/src/ParameterService.cpp | 4 ++--
pps_ws/src/d_fall_pps/src/SafeControllerService.cpp | 7 ++++++-
2 files changed, 8 insertions(+), 3 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/src/ParameterService.cpp b/pps_ws/src/d_fall_pps/src/ParameterService.cpp
index c59e9c5e..4a70d98c 100755
--- a/pps_ws/src/d_fall_pps/src/ParameterService.cpp
+++ b/pps_ws/src/d_fall_pps/src/ParameterService.cpp
@@ -333,7 +333,7 @@ int main(int argc, char* argv[])
case TYPE_AGENT:
{
//m_ros_namespace = ros::this_node::getNamespace();
- m_ros_namespace = "/" + std::to_string(my_agentID) + "/" + "ParameterService";
+ m_ros_namespace = "/" + std::to_string(my_agentID) + '/' + "ParameterService";
ROS_INFO_STREAM("This Paramter Sercice will load .yaml file parameters into the 'base' namespace: " << m_ros_namespace);
break;
}
@@ -343,7 +343,7 @@ int main(int argc, char* argv[])
case TYPE_COORDINATOR:
{
//m_ros_namespace = ros::this_node::getNamespace();
- m_ros_namespace = "/" + "ParameterService";
+ m_ros_namespace = '/' + "ParameterService";
ROS_INFO_STREAM("This Paramter Sercice will load .yaml file parameters into the 'base' namespace: " << m_ros_namespace);
break;
}
diff --git a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
index 24c898c1..b8482f9a 100755
--- a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
@@ -584,7 +584,7 @@ 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);
@@ -611,6 +611,11 @@ 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);
--
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