From 43e9061f559ff7aded03e08ad3f16bf26f979003 Mon Sep 17 00:00:00 2001
From: Irene Garcia Camacho <igarcia@iri.upc.edu>
Date: Fri, 16 Jun 2017 18:02:54 +0200
Subject: [PATCH] Minor changes in walk and head_tracking modules.
---
humanoid_modules/src/head_tracking_module.cpp | 3 +--
humanoid_modules/src/walk_module.cpp | 3 +--
2 files changed, 2 insertions(+), 4 deletions(-)
diff --git a/humanoid_modules/src/head_tracking_module.cpp b/humanoid_modules/src/head_tracking_module.cpp
index ead6714..4fc5dfd 100644
--- a/humanoid_modules/src/head_tracking_module.cpp
+++ b/humanoid_modules/src/head_tracking_module.cpp
@@ -32,8 +32,7 @@ CHeadTrackingModule::CHeadTrackingModule(const std::string &name) : CHumanoidMod
this->head_target.velocities.resize(2);
this->head_target.accelerations.resize(2);
this->head_target.effort.resize(2);
- this->head_target_timer=this->module_nh.createTimer(ros::Duration(1.0/this->config.head_target_rate_hz),&CHeadTrackingModule::head_target_pub,this);
- this->head_target_timer.stop();
+ this->head_target_timer=this->module_nh.createTimer(ros::Duration(1.0/this->config.head_target_rate_hz),&CHeadTrackingModule::head_target_pub,this,false,false);
/* assign check callback functions to the PID services */
this->set_pan_pid_service.set_call_check_function(boost::bind(&CHeadTrackingModule::check_set_pid_service,this,_1));
this->get_pan_pid_service.set_call_check_function(boost::bind(&CHeadTrackingModule::check_get_pid_service,this,_1));
diff --git a/humanoid_modules/src/walk_module.cpp b/humanoid_modules/src/walk_module.cpp
index 6e07636..90040a9 100644
--- a/humanoid_modules/src/walk_module.cpp
+++ b/humanoid_modules/src/walk_module.cpp
@@ -17,8 +17,7 @@ CWalkModule::CWalkModule(const std::string &name) : CHumanoidModule(name,WALK_MO
this->cmd_vel_msg.angular.z=0.0;
/* initiqalize the command velocity publisher */
this->cmd_vel_publisher=this->module_nh.advertise<geometry_msgs::Twist>("cmd_vel",1);
- this->cmd_vel_timer=this->module_nh.createTimer(ros::Duration(1.0/this->config.cmd_vel_rate_hz),&CWalkModule::cmd_vel_pub,this);
- this->cmd_vel_timer.stop();
+ this->cmd_vel_timer=this->module_nh.createTimer(ros::Duration(1.0/this->config.cmd_vel_rate_hz),&CWalkModule::cmd_vel_pub,this,false,false);
/* joint states subscriber */
this->joint_state_subscriber=this->module_nh.subscribe("joint_states",1,&CWalkModule::joint_state_callback,this);
/* fallen state subscriber */
--
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