駿 高世 / Mbed 2 deprecated abu2019_mr1

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Dependencies:   mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic

Diff: myRos.cpp

Revision:
8:80708bacb5b5
Parent:
4:cf1a4e503974
Child:
10:3b47050b1652
--- a/myRos.cpp	Tue Dec 18 22:06:34 2018 +0000
+++ b/myRos.cpp	Thu Dec 20 20:54:35 2018 +0000
@@ -69,12 +69,20 @@
 
 //This function run every 10 msec at main
 void My_Ros::loop(){
+    static bool plev_ack_from_pc = false;
+    
     if(ack_from_pc_ == false){
         //Send initialize
         court_color_publisher();
         initial_pose_publisher();
     }
     
+    if(ack_from_pc_ == true && plev_ack_from_pc == false){//初期位置の登録後,ROSからのACKが来た時に実行される
+        reset_odometry();
+    }
+    
+    plev_ack_from_pc = ack_from_pc_;
+    
     if(drift_sub_flag_ == true){
         set_drift(drift_);
         drift_sub_flag_ = false;