From ee751c82debd17fbdf2d17b43b4a5b681f7191ac Mon Sep 17 00:00:00 2001
From: roangel <roangel@student.ethz.ch>
Date: Thu, 17 Aug 2017 11:46:58 +0200
Subject: [PATCH] starts client without starting drone. Then scripts
---
pps_ws/src/d_fall_pps/scripts/safe_controller_setpoint | 2 +-
pps_ws/src/d_fall_pps/src/PPSClient.cpp | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/scripts/safe_controller_setpoint b/pps_ws/src/d_fall_pps/scripts/safe_controller_setpoint
index 1d8a9d41..73bb4fa7 100755
--- a/pps_ws/src/d_fall_pps/scripts/safe_controller_setpoint
+++ b/pps_ws/src/d_fall_pps/scripts/safe_controller_setpoint
@@ -1,6 +1,6 @@
#!/bin/bash
-if [ "$#" -ne 4 ]
+if [ "$#" -ne 4 ]
then echo "usage: safe_controller_setpoint <x> <y> <z> <yaw>"
else rostopic pub -1 /$ROS_NAMESPACE/SafeControllerService/Setpoint d_fall_pps/Setpoint "{x: $1, y: $2, z: $3, yaw: $4}";
fi
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index 28f16700..50bd04be 100755
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -277,7 +277,7 @@ int main(int argc, char* argv[]){
ros::Subscriber commandSubscriber = nodeHandle.subscribe("Command", 1, commandCallback);
//start with safe controller
- crazyflieEnabled = true;
+ crazyflieEnabled = false;
usingSafeController = true;
loadSafeController();
--
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