Not able to subscribe yet to the publisher, dont know why, but compiling all ros stuff

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h

@@ -10,6 +10,7 @@
 #ifdef CATKIN_MAKE
 #include "ros/callback_queue.h"
 #include "ros/ros.h"
+#include "d_fall_pps/ViconData.h"
 #endif
 
 #include "ui_mainguiwindow.h"
@@ -61,7 +62,11 @@ class MainGUIWindow : public QMainWindow
     Q_OBJECT
 
 public:
+    #ifdef CATKIN_MAKE
+    explicit MainGUIWindow(ros::NodeHandle* pNodeHandle, QWidget *parent = 0);
+    #else
     explicit MainGUIWindow(QWidget *parent = 0);
+    #endif
     ~MainGUIWindow();
 
 public slots:
@@ -106,6 +111,8 @@ private:
     Marker* marker;
 
     #ifdef CATKIN_MAKE
+    ros::NodeHandle* _pNodeHandle;
+    ros::Subscriber* ViconSubscriber;
 
     #endif
 };

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/main.cpp

@@ -5,6 +5,14 @@
 #ifdef CATKIN_MAKE
 #endif
 
+#ifdef CATKIN_MAKE
+
+using namespace d_fall_pps;
+
+
+#endif
+
+
 int main(int argc, char *argv[])
 {
     #ifdef CATKIN_MAKE
@@ -13,8 +21,11 @@ int main(int argc, char *argv[])
     #endif
     QApplication applicationGUI(argc, argv);
 
+    #ifdef CATKIN_MAKE
+    MainGUIWindow mainWindow(&nodeHandle);
+    #else
     MainGUIWindow mainWindow;
-
+    #endif
     mainWindow.show();
     applicationGUI.exec();
 

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp

@@ -11,13 +11,32 @@
 
 #include <string>
 
+#ifdef CATKIN_MAKE
+
+using namespace d_fall_pps;
+
+void viconCallback(const ViconData& data)
+{
+    ROS_INFO("in viconCallback");
+    qDebug("in viconCallback");
+}
+#endif
+
+
 #define N_MAX_CRAZYFLIES           20 // protection number
 
 #ifdef CATKIN_MAKE
-#else
+MainGUIWindow::MainGUIWindow(ros::NodeHandle* pNodeHandle, QWidget *parent) :
+    QMainWindow(parent),
+    ui(new Ui::MainGUIWindow),
+    _pNodeHandle(pNodeHandle)
+{
+    ui->setupUi(this);
+    _init();
+}
 
-#endif
 
+#else
 MainGUIWindow::MainGUIWindow(QWidget *parent) :
     QMainWindow(parent),
     ui(new Ui::MainGUIWindow)
@@ -27,6 +46,9 @@ MainGUIWindow::MainGUIWindow(QWidget *parent) :
     _init();
 }
 
+#endif
+
+
 MainGUIWindow::~MainGUIWindow()
 {
     delete ui;
@@ -47,6 +69,12 @@ void MainGUIWindow::set_tabs(int n)
 
 void MainGUIWindow::_init()
 {
+    sleep(1000);
+    #ifdef CATKIN_MAKE
+    ViconSubscriber = new ros::Subscriber(_pNodeHandle->subscribe("/ViconDataPublisher/ViconData", 1, viconCallback));
+    ROS_INFO("successfully subscribed to ViconData from GUI");
+    qDebug("successfully subscribed to ViconData from GUI");
+    #endif
 
     ui->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
 

pps_ws/src/d_fall_pps/launch/ppsLaunch.launch

 <launch>
-		
-	<node pkg="d_fall_pps" name="CentralManagerService" output="screen" type="CentralManagerService">
-	</node>
-	
-	<node pkg="d_fall_pps" name="CrazyRadio" output="screen" type="CrazyRadio.py">
-		<rosparam command="load" file="$(find d_fall_pps)/launch/studentParams.yaml" />	
-	</node>
+
+	<!-- <node pkg="d_fall_pps" name="CentralManagerService" output="screen" type="CentralManagerService"> -->
+	<!-- </node> -->
+
+	<!-- <node pkg="d_fall_pps" name="CrazyRadio" output="screen" type="CrazyRadio.py"> -->
+	<!-- 	<rosparam command="load" file="$(find d_fall_pps)/launch/studentParams.yaml" />	 -->
+	<!-- </node> -->
 
 	<node pkg="d_fall_pps" name="ViconDataPublisher" output="screen" type="ViconDataPublisher">
 	</node>
 
-	<node pkg="d_fall_pps" name="PPSClient" output="screen" type="PPSClient">
-		<rosparam command="load" file="$(find d_fall_pps)/launch/studentParams.yaml" />	
-	</node>
+	<!-- <node pkg="d_fall_pps" name="PPSClient" output="screen" type="PPSClient"> -->
+	<!-- 	<rosparam command="load" file="$(find d_fall_pps)/launch/studentParams.yaml" />	 -->
+	<!-- </node> -->
 
 
-	<node pkg="d_fall_pps" name="SafeControllerService" output="screen" type="SafeControllerService">
-	</node>
+	<!-- <node pkg="d_fall_pps" name="SafeControllerService" output="screen" type="SafeControllerService"> -->
+	<!-- </node> -->
 
 
-	<!-- When we have a GUI, this has to be adapted and included
-	<node pkg="d_fall_pps" name="GUI" output="screen" type="GUI">
-		<rosparam command="load" file="$(find d_fall_pps)/launch/ControlParams.yaml" />
+	<!-- When we have a GUI, this has to be adapted and included -->
+	<node pkg="d_fall_pps" name="my_GUI" output="screen" type="my_GUI">
+		<!-- <rosparam command="load" file="$(find d_fall_pps)/launch/ControlParams.yaml" /> -->
 	</node>
-	-->
 
 </launch>

pps_ws/src/d_fall_pps/src/PPSClient.cpp

@@ -126,7 +126,7 @@ bool safetyCheck(ViconData data){
 
 //is called upon every new arrival of data in main
 void viconCallback(const ViconData& data){
-	ROS_INFO("in viconCallback"); 
+	ROS_INFO("in viconCallback PPSClient");
 	//ROS_INFO_STREAM(data);
 	//ROS_INFO("My teamname is:"); ROS_INFO_STREAM(team);
 	//ROS_INFO("My crazyflie is:"); ROS_INFO_STREAM(cflie);

pps_ws/src/d_fall_pps/src/ViconDataPublisher.cpp

@@ -44,17 +44,21 @@ int main(int argc, char* argv[]) {
             nodeHandle.advertise<ViconData>("ViconData", 1);
 
     //publish something random if no viconData is available for testing
-    /*
-    ViconData viconData; 
-    double i = 1; 
-    while(true)
+
+    ViconData viconData;
+    int i = 1;
+    while(ros::ok())
     {
+        if(i % 1000 == 0)
+        {
+        	ROS_INFO("iteration #%d",i);
+    	}
     	viconData.roll  = i;
-    	 viconDataPublisher.publish(viconData);
-    	 ++i;
+        viconDataPublisher.publish(viconData);
+        ros::Duration(0.001).sleep();
+        ++i;
     }
     //the code will not go further than here if testing without real ViconData
-    */
 
     Client client;