Commit 15f19bfd authored by bucyril's avatar bucyril
Browse files

removed all useless 'd_fall_pps::'

parent fae880b5
......@@ -55,7 +55,7 @@ ros::Publisher rateCommandPublisher;
ros::Publisher motorCommandPublisher;
//msg for safeController Output
d_fall_pps::RateCommand safeRateCommandPkg;
RateCommand safeRateCommandPkg;
//uncommenting the next line causes FATAL Error at runtime: "You must call ros::init() before creating the first NodeHandle"
//ros::NodeHandle nodeHandle;
......@@ -162,7 +162,7 @@ bool safetyCheck(ViconData data){
}
//is called upon every new arrival of data in main
void viconCallback(const d_fall_pps::ViconData& data){
void viconCallback(const ViconData& data){
//ROS_INFO("in viconCallback");
//ROS_INFO_STREAM(data);
//ROS_INFO("My teamname is:"); ROS_INFO_STREAM(team);
......@@ -186,7 +186,7 @@ void viconCallback(const d_fall_pps::ViconData& data){
//callback method to publish d_fall_pps::AngleCommand
void callbackAngleCommand(const ros::TimerEvent&)
{
d_fall_pps::AngleCommand angleCommandPkg;
AngleCommand angleCommandPkg;
angleCommandPkg.rollAngle = 1;
angleCommandPkg.pitchAngle = 1;
angleCommandPkg.yawAngle = 1;
......@@ -259,14 +259,14 @@ int main(int argc, char* argv[]){
//ros::Publishers to advertise on the three command type topics
angleCommandPublisher = nodeHandle.advertise <d_fall_pps::AngleCommand>("AngleCommand", 1);
rateCommandPublisher = nodeHandle.advertise<d_fall_pps::RateCommand>("RateCommand", 1);
motorCommandPublisher = nodeHandle.advertise <d_fall_pps::MotorCommand>("MotorCommand", 1);
angleCommandPublisher = nodeHandle.advertise <AngleCommand>("AngleCommand", 1);
rateCommandPublisher = nodeHandle.advertise<RateCommand>("RateCommand", 1);
motorCommandPublisher = nodeHandle.advertise <MotorCommand>("MotorCommand", 1);
//service
//to be expanded with additional services depending on controller (currently only one available)
safeController = nodeHandle.serviceClient<d_fall_pps::RateController>("/SafeControllerService/RateController");
safeController = nodeHandle.serviceClient<RateController>("/SafeControllerService/RateController");
//safeController = nodeHandle.serviceClient<d_fall_pps::RateController>("/SafeControllerService/RateController", true);
//http://wiki.ros.org/roscpp/Overview/Services
......@@ -275,7 +275,7 @@ int main(int argc, char* argv[]){
//service
centralClient = nodeHandle.serviceClient<d_fall_pps::CentralManager>("/CentralManagerService/CentralManager");
centralClient = nodeHandle.serviceClient<CentralManager>("/CentralManagerService/CentralManager");
//TBD: some sort of init procedure to get data from CentralManager upfront
......
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