From 1699f18f6cd147e2b078de06a67dc84baa6d68b7 Mon Sep 17 00:00:00 2001
From: Ely Repiso Polo <erepiso@iri.upc.edu>
Date: Mon, 21 Jun 2021 16:14:07 +0000
Subject: [PATCH] corregido error por cambio en IribaseAlgorithm para ubuntu
18.04 y ROS-melodic; y corregido cambio mensajes simulacion de
iri_perception_msgs a iri_nav_msgs
---
include/people_simulation_alg_node.h | 6 +++---
src/people_simulation_alg_node.cpp | 5 +++--
2 files changed, 6 insertions(+), 5 deletions(-)
diff --git a/include/people_simulation_alg_node.h b/include/people_simulation_alg_node.h
index 653de2e..ba48585 100644
--- a/include/people_simulation_alg_node.h
+++ b/include/people_simulation_alg_node.h
@@ -38,9 +38,9 @@
// [service client headers]
#include <std_srvs/Empty.h>
-#include <iri_perception_msgs/InitialiceSim.h>
+#include <iri_nav_msgs/InitialiceSim.h>
#include <actionlib/client/terminal_state.h>
-#include <iri_perception_msgs/restartSim.h>
+#include <iri_nav_msgs/restartSim.h>
// [action server client headers]
/**
@@ -71,7 +71,7 @@ class PeopleSimulationAlgNode : public algorithm_base::IriBaseAlgorithm<PeopleSi
// server to initialice person positions.
ros::ServiceServer init_simulations_server_;
- bool init_simulationsCallback(iri_perception_msgs::InitialiceSim::Request &req, iri_perception_msgs::InitialiceSim::Response &res);
+ bool init_simulationsCallback(iri_nav_msgs::InitialiceSim::Request &req, iri_nav_msgs::InitialiceSim::Response &res);
pthread_mutex_t init_simulations_mutex_;
void init_simulations_mutex_enter(void);
void init_simulations_mutex_exit(void);
diff --git a/src/people_simulation_alg_node.cpp b/src/people_simulation_alg_node.cpp
index 1236a5d..269776c 100644
--- a/src/people_simulation_alg_node.cpp
+++ b/src/people_simulation_alg_node.cpp
@@ -6,7 +6,8 @@ PeopleSimulationAlgNode::PeopleSimulationAlgNode(void) :
tf_listener_(ros::Duration(10.f))
{
//init class attributes if necessary
- this->loop_rate_ = 10;//in [Hz]
+ //this->loop_rate_ = 10;//in [Hz] Es de ubuntu 14.04
+ setRate(10);
// [init publishers]
this->tracksMarkers_publisher_ = this->public_node_handle_.advertise<visualization_msgs::MarkerArray>("tracksMarkers", 100);
@@ -328,7 +329,7 @@ void PeopleSimulationAlgNode::init_simulations_mutex_exit(void)
/* [service callback] => restart persons to initial position */
-bool PeopleSimulationAlgNode::init_simulationsCallback(iri_perception_msgs::InitialiceSim::Request &req, iri_perception_msgs::InitialiceSim::Response &res)
+bool PeopleSimulationAlgNode::init_simulationsCallback(iri_nav_msgs::InitialiceSim::Request &req, iri_nav_msgs::InitialiceSim::Response &res)
{
ROS_INFO("tibi [People_companion] PeopleSimulationAlgNode::init_simulationsCallback: New Request Received!");
--
GitLab