Merge branch 'setting_max_speed' into 'master'

Setting max speed via parameter call

See merge request nen/modules/tiago_modules!6

src/nav_module.cpp

@@ -793,21 +793,23 @@ bool CNavModule::set_parameter(const std::string &name_space,const std::string &
   std::string::size_type pos;
   std::string rem_name_space,current_name_space;
 
-  std::cout << name_space << std::endl;
+  ROS_DEBUG("%s", name_space.c_str());
   if((pos=name_space.find("move_base"))!=std::string::npos)// string exists
   {
     rem_name_space=name_space.substr(pos);
-    std::cout << rem_name_space << std::endl;
+    ROS_DEBUG("%s", rem_name_space.c_str());
+
     if((pos=rem_name_space.find("/"))!=std::string::npos)// there exist some sub name_space
     {
       current_name_space=rem_name_space.substr(0,pos);
       rem_name_space=rem_name_space.substr(pos+1);
-      std::cout << rem_name_space << "," << current_name_space << std::endl;
+      ROS_DEBUG("%s,%s", rem_name_space.c_str(), current_name_space.c_str());
       if((pos=rem_name_space.find("/"))!=std::string::npos)// there exist some sub name_space
       {
         current_name_space=rem_name_space.substr(0,pos);
         rem_name_space=rem_name_space.substr(pos+1);
-        std::cout << rem_name_space << "," << current_name_space << std::endl;
+        ROS_DEBUG("%s,%s", rem_name_space.c_str(), current_name_space.c_str());
+
         if(current_name_space=="local_costmap")
         {
           if(rem_name_space=="inflation_layer")
@@ -858,21 +860,22 @@ bool CNavModule::set_parameter(const std::string &name_space,const std::string &
   std::string::size_type pos;
   std::string rem_name_space,current_name_space;
 
-  std::cout << name_space << std::endl;
+  ROS_DEBUG("%s", name_space);
   if((pos=name_space.find("move_base"))!=std::string::npos)// string exists
   {
     rem_name_space=name_space.substr(pos);
-    std::cout << rem_name_space << std::endl;
+    ROS_DEBUG("%s", rem_name_space);
     if((pos=rem_name_space.find("/"))!=std::string::npos)// there exist some sub name_space
     {
       current_name_space=rem_name_space.substr(0,pos);
       rem_name_space=rem_name_space.substr(pos+1);
-      std::cout << rem_name_space << "," << current_name_space << std::endl;
+      ROS_DEBUG("%s,%s", rem_name_space.c_str(), current_name_space.c_str());
       if((pos=rem_name_space.find("/"))!=std::string::npos)// there exist some sub name_space
       {
         current_name_space=rem_name_space.substr(0,pos);
         rem_name_space=rem_name_space.substr(pos+1);
-        std::cout << rem_name_space << "," << current_name_space << std::endl;
+        ROS_DEBUG("%s,%s", rem_name_space.c_str(), current_name_space.c_str());
+
         if(current_name_space=="local_costmap")
         {
           if(rem_name_space=="inflation_layer")
@@ -895,7 +898,17 @@ bool CNavModule::set_parameter(const std::string &name_space,const std::string &
           return false;
       }
       else
-        return false;
+      {
+
+       if (current_name_space == "move_base"){
+              if (rem_name_space == "PalLocalPlanner"){
+                  this->palLocalPlanner_reconf.set_parameter(name,value);
+              }
+          }
+          else
+            return false;
+      }
+
     }
     else
     {