From e8f58435a996edffd32940d245353e421aec32b2 Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Tue, 5 Dec 2017 07:50:35 +0100
Subject: [PATCH] Adjusted the node handles in the fetch callbacks
---
pps_ws/src/d_fall_pps/src/CustomControllerService.cpp | 10 +++++-----
pps_ws/src/d_fall_pps/src/PPSClient.cpp | 8 ++++----
pps_ws/src/d_fall_pps/src/SafeControllerService.cpp | 8 ++++----
3 files changed, 13 insertions(+), 13 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
index 1dbde303..d4480f4b 100644
--- a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
@@ -817,7 +817,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
case FETCH_YAML_CUSTOM_CONTROLLER_AGENT:
{
// Let the user know that this message was received
- ROS_INFO("The CustomControllerService received the message that YAML parameters were (re-)loaded. > Now fetching the parameter values from this machine.");
+ ROS_INFO("The CustomControllerService received the message that YAML parameters were (re-)loaded. > Now fetching the parameter values from this agent.");
// 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);
// Call the function that fetches the parameters
@@ -831,8 +831,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
// Let the user know that this message was received
ROS_INFO("The CustomControllerService received the message that YAML parameters were (re-)loaded. > Now fetching the parameter values from the coordinator.");
// 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(nodeHandle_to_coordinator,namespace_to_coordinator_parameter_service);
+ ros::NodeHandle nodeHandle_to_coordinator_parameter_service(namespace_to_coordinator_parameter_service);
// Call the function that fetches the parameters
fetchYamlParameters(nodeHandle_to_coordinator_parameter_service);
break;
@@ -1165,8 +1164,9 @@ int main(int argc, char* argv[]) {
// 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";
+ // NOTE: the backslash here (i.e., "/") before the name of the node ("ParameterService")
+ // is very important because it specifies that the name is global
+ 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();
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index 72ea2823..993a2e1d 100755
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -809,8 +809,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
// > and also from where the paramters are being fetched
ROS_INFO("The PPSClient received the message that YAML parameters were (re-)loaded for the Safe Controller. > Now fetching the parameter values from the coordinator.");
// 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(nodeHandle_to_coordinator,namespace_to_coordinator_parameter_service);
+ ros::NodeHandle nodeHandle_to_coordinator_parameter_service(namespace_to_coordinator_parameter_service);
// Call the function that fetches the parameters
fetchYamlParametersForSafeController(nodeHandle_to_coordinator_parameter_service);
break;
@@ -1030,8 +1029,9 @@ int main(int argc, char* argv[])
// 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";
+ // NOTE: the backslash here (i.e., "/") before the name of the node ("ParameterService")
+ // is very important because it specifies that the name is global
+ 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();
diff --git a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
index 9ead5c48..98a42079 100755
--- a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
@@ -402,8 +402,7 @@ void yamlReadyForFetchCallback(const std_msgs::Int32& msg)
// Let the user know that this message was received
ROS_INFO("The SafeControllerService received the message that YAML parameters were (re-)loaded. > Now fetching the parameter values from the coordinator.");
// 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(nodeHandle_to_coordinator,namespace_to_coordinator_parameter_service);
+ ros::NodeHandle nodeHandle_to_coordinator_parameter_service(namespace_to_coordinator_parameter_service);
// Call the function that fetches the parameters
fetchYamlParameters(nodeHandle_to_coordinator_parameter_service);
break;
@@ -608,8 +607,9 @@ int main(int argc, char* argv[]) {
// 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";
+ // NOTE: the backslash here (i.e., "/") before the name of the node ("ParameterService")
+ // is very important because it specifies that the name is global
+ 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();
--
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