From eb6334027ebeb7730380ab63e4d7161f85cdf872 Mon Sep 17 00:00:00 2001
From: Ely Repiso Polo <erepiso@iri.upc.edu>
Date: Fri, 16 Jul 2021 18:57:26 +0000
Subject: [PATCH] algo que cambie y no subi
---
launch/people_simulation.launch | 2 +-
src/people_simulation_alg_node.cpp | 11 +++++++----
2 files changed, 8 insertions(+), 5 deletions(-)
diff --git a/launch/people_simulation.launch b/launch/people_simulation.launch
index 3ac3af2..71314be 100644
--- a/launch/people_simulation.launch
+++ b/launch/people_simulation.launch
@@ -14,7 +14,7 @@
<!-- TODO change map with arg -->
<remap from="~tracks" to="/$(optenv ROBOT tibi)/tracks"/>
<remap from="~tracksMarkers" to="/$(optenv ROBOT tibi)/tracksMarkers"/>
- <remap from="~init_simulations" to="/init_simulations"/>
+ <remap from="~init_simulations" to="/$(optenv ROBOT tibi)/init_simulations"/>
</node>
</launch>
diff --git a/src/people_simulation_alg_node.cpp b/src/people_simulation_alg_node.cpp
index 05b5429..d0da545 100644
--- a/src/people_simulation_alg_node.cpp
+++ b/src/people_simulation_alg_node.cpp
@@ -2,11 +2,12 @@
PeopleSimulationAlgNode::PeopleSimulationAlgNode(void) :
algorithm_base::IriBaseAlgorithm<PeopleSimulationAlgorithm>(),
- n_persons_(0), simulation_mode_( PeopleSimulationAlgNode::Normal ),
+ n_persons_(10), simulation_mode_( PeopleSimulationAlgNode::Normal ),
tf2_listener_(tf2_buffer),
tf_(NULL)
// tf2_listener_(ros::Duration(10.f))
{
+ ROS_INFO(" approaching Init node. PeopleSimulationAlgNode");
//init class attributes if necessary
//this->loop_rate_ = 10;//in [Hz] Es de ubuntu 14.04
setRate(10);//ROS_INFO("PeopleSimulationAlgNode::init_node");
@@ -21,12 +22,13 @@ PeopleSimulationAlgNode::PeopleSimulationAlgNode(void) :
// [init clients]
// [init action servers]
- // [init services] => My cervice reset cscene sim, persons to initial pose
+ // [init services] => My service reset cscene sim, persons to initial pose
this->init_simulations_server_ = this->public_node_handle_.advertiseService("init_simulations", &PeopleSimulationAlgNode::init_simulationsCallback, this);
// [init action clients]
init_sim();
+ ROS_INFO(" approaching Fin init node. PeopleSimulationAlgNode");
}
PeopleSimulationAlgNode::~PeopleSimulationAlgNode(void)
@@ -37,6 +39,7 @@ PeopleSimulationAlgNode::~PeopleSimulationAlgNode(void)
void PeopleSimulationAlgNode::init_sim()
{
+ ROS_INFO(" approaching init init_sim(). PeopleSimulationAlgNode");
scene_.set_dt( 0.1 );
//this->public_node_handle_.getParam("simulation_mode", simulation_mode_);
this->public_node_handle_.getParam("number_persons", n_persons_);
@@ -96,12 +99,12 @@ void PeopleSimulationAlgNode::init_sim()
id_marker_.color.r = 0.0;
id_marker_.color.g = 0.0;
id_marker_.color.b = 0.0;
-
+ ROS_INFO(" approaching Fin init_sim(). PeopleSimulationAlgNode");
}
void PeopleSimulationAlgNode::mainNodeThread(void)
{
-ROS_INFO(" PeopleSimulationAlgNode::mainNodeThread !!!");
+ROS_INFO("approaching PeopleSimulationAlgNode::mainNodeThread !!!");
//ros::init(argc, argv, "init_simulations");
// ros::NodeHandle nh("~");
--
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