aaa
Dependencies: mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic
Diff: myRos.cpp
- Revision:
- 3:a45557a0dcb8
- Parent:
- 1:bdd17feaa4ce
- Child:
- 4:cf1a4e503974
--- a/myRos.cpp Fri Dec 07 22:34:31 2018 +0000 +++ b/myRos.cpp Tue Dec 11 17:51:47 2018 +0000 @@ -12,7 +12,7 @@ } void My_Ros::initialize(){ - ack_from_pc_ = false; + ack_from_pc_ = true; } void My_Ros::court_color_publisher(){ @@ -31,21 +31,21 @@ void My_Ros::initial_pose_publisher(){ static geometry_msgs::Point initial_pose; - static ros::Publisher initial_pose_pub("nucleo/initial_point", &initial_pose); + static ros::Publisher initial_pose_pub("nucleo/initial_pose", &initial_pose); static bool init_flag = false; if(init_flag == false){ nh_.advertise(initial_pose_pub); init_flag = true; } - - initial_pose = initial_pose_.get_point_msgs(); + + initial_pose = get_initial_pose().get_point_msgs(); initial_pose_pub.publish(&initial_pose); } void My_Ros::pose_publisher(){ static geometry_msgs::Point pose; - static ros::Publisher pose_pub("nucleo/point", &pose); + static ros::Publisher pose_pub("nucleo/pose", &pose); static bool init_flag = false; if(init_flag == false){ @@ -53,25 +53,20 @@ init_flag = true; } - pose = pose_.get_point_msgs(); + pose = get_pose().get_point_msgs(); pose_pub.publish(&pose); } -//loopで回す -// -void My_Ros::set_amcl_parameter(){ - //Send initialize +//This function run every 10 msec at main +void My_Ros::loop(){ if(ack_from_pc_ == false){ + //Send initialize court_color_publisher(); initial_pose_publisher(); } //Send current position(odom -> base_footprint) - pose_publisher(); -} - -//This function run every 10 msec at main -void My_Ros::loop(){ - set_amcl_parameter(); + pose_publisher(); + nh_.spinOnce(); } \ No newline at end of file