From cd97669ea2286c841552f2ec04ab95cd8ae7f582 Mon Sep 17 00:00:00 2001
From: Ely Repiso Polo <erepiso@iri.upc.edu>
Date: Wed, 19 Jun 2019 20:10:57 +0000
Subject: [PATCH] test en tibi side-by-side 2pers 2
---
cfg/IriStateMachineCompanion.cfg | 1 +
src/iri_state_machine_companion_alg_node.cpp | 3 ++-
2 files changed, 3 insertions(+), 1 deletion(-)
diff --git a/cfg/IriStateMachineCompanion.cfg b/cfg/IriStateMachineCompanion.cfg
index 690959b..07e40d3 100755
--- a/cfg/IriStateMachineCompanion.cfg
+++ b/cfg/IriStateMachineCompanion.cfg
@@ -40,6 +40,7 @@ gen = ParameterGenerator()
# Name Type Reconfiguration level Description Default Min Max
#gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
# threshold_max_dist_between_robot_and_person_
+gen.add("out_std_mesages_conf" , bool_t, 0, "if true we se the internal std_out mesages.", False)
gen.add("threshold_max_dist_between_robot_and_person_conf", double_t, 0, "Maximum distance between robot and person to talk (meters)", 4.5, 0.0, 30.0)
gen.add("threshold_less_max_vel_robot_conf", double_t, 0, "less max vel of person because robot needs 0.2m/s more to react", 0.2, 0.0, 3.0)
gen.add("threshold_minimun_distance_not_collide_conf", double_t, 0, "collision distance of the save_cmd_vel== 0.3", 0.8, 0.0, 3.0)
diff --git a/src/iri_state_machine_companion_alg_node.cpp b/src/iri_state_machine_companion_alg_node.cpp
index 5790985..0e0fd4a 100644
--- a/src/iri_state_machine_companion_alg_node.cpp
+++ b/src/iri_state_machine_companion_alg_node.cpp
@@ -91,7 +91,8 @@ void IriStateMachineCompanionAlgNode::mainNodeThread(void)
this->tibi_akp_status_UInt64_msg_.data =0; // case no status.
-
+ out_std_mesages_=config_.out_std_mesages_conf;
+
unsigned int actual_numCompanionPeople=save_companionStatus_mesage_global_.numCompanionPeople;
//ROS_INFO("save_companionStatus_mesage_global_.numCompanionPeople=%d",save_companionStatus_mesage_global_.numCompanionPeople);
if(actual_numCompanionPeople==0){
--
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