From 2056f177d7533f7d187faa954ad56873af5583e1 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Fri, 27 Jan 2023 16:01:41 +0100
Subject: [PATCH] tf listener related variables from private to protected
---
include/iri_nav_module/nav_module.h | 32 ++++++++++++++---------------
1 file changed, 16 insertions(+), 16 deletions(-)
diff --git a/include/iri_nav_module/nav_module.h b/include/iri_nav_module/nav_module.h
index c867aa6..6aba9cf 100644
--- a/include/iri_nav_module/nav_module.h
+++ b/include/iri_nav_module/nav_module.h
@@ -120,59 +120,59 @@ class CNavModule : public CModule<ModuleCfg>
*
*/
bool path_available;
- // tf listener
+ // costmaps
/**
* \brief
*
*/
- tf2_ros::Buffer tf2_buffer;
+ CModuleService<std_srvs::Empty,ModuleCfg> clear_costmaps;
/**
* \brief
*
*/
- tf2_ros::TransformListener tf2_listener;
+ ros::Timer clear_costmaps_timer;
/**
* \brief
*
*/
- double tf_timeout_time_s;
- // costmaps
+ void clear_costmaps_call(const ros::TimerEvent& event);
/**
* \brief
*
*/
- CModuleService<std_srvs::Empty,ModuleCfg> clear_costmaps;
+ bool enable_auto_clear;
/**
* \brief
*
*/
- ros::Timer clear_costmaps_timer;
+ double auto_clear_rate_hz;
/**
* \brief
*
*/
- void clear_costmaps_call(const ros::TimerEvent& event);
+ CNavCostmapModule<ModuleCfg> local_costmap;
/**
* \brief
*
*/
- bool enable_auto_clear;
+ CNavCostmapModule<ModuleCfg> global_costmap;
+ protected:
+ // tf listener
/**
* \brief
*
*/
- double auto_clear_rate_hz;
+ tf2_ros::Buffer tf2_buffer;
/**
* \brief
*
*/
- CNavCostmapModule<ModuleCfg> local_costmap;
+ tf2_ros::TransformListener tf2_listener;
/**
* \brief
*
*/
- CNavCostmapModule<ModuleCfg> global_costmap;
- protected:
+ double tf_timeout_time_s;
/**
* \brief
*
@@ -588,11 +588,11 @@ class CNavModule : public CModule<ModuleCfg>
this->lock();
switch(this->clear_costmaps.call(clear_costmaps_req))
{
- case ACT_SRV_SUCCESS: ROS_INFO("CNavModule: Costmaps cleared sucessfully");
+ case ACT_SRV_SUCCESS: ROS_INFO("CNavModule: Costmaps cleared sucessfully (auto clear)");
break;
- case ACT_SRV_PENDING: ROS_WARN("CNavModule: Costmaps not yet cleared");
+ case ACT_SRV_PENDING: ROS_WARN("CNavModule: Costmaps not yet cleared (auto clear)");
break;
- case ACT_SRV_FAIL: ROS_ERROR("CNavModule: Impossible to clear costmaps");
+ case ACT_SRV_FAIL: ROS_ERROR("CNavModule: Impossible to clear costmaps (auto clear)");
break;
}
this->unlock();
--
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