From 97719ba4828e79b97f6a7439cb30816bc632edd7 Mon Sep 17 00:00:00 2001 From: Alejandro Lopez Gestoso <alopez@iri.upc.edu> Date: Wed, 9 Jun 2021 12:30:38 +0200 Subject: [PATCH] Fixed bidirectionalport to outputport (new_goal) --- src/tiago_nav_bt_client_alg_node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/tiago_nav_bt_client_alg_node.cpp b/src/tiago_nav_bt_client_alg_node.cpp index 22bbb59..8b430d7 100644 --- a/src/tiago_nav_bt_client_alg_node.cpp +++ b/src/tiago_nav_bt_client_alg_node.cpp @@ -20,7 +20,7 @@ TiagoNavModuleBtClientAlgNode::TiagoNavModuleBtClientAlgNode(void) : this->tiago_nav_module_bt.init(this->factory); // Init local functions - BT::PortsList async_go_to_pose_inputs_ports = {BT::OutputPort<double>("x"), BT::OutputPort<double>("y"), BT::OutputPort<double>("yaw"), BT::OutputPort<double>("heading_tol"), BT::OutputPort<double>("x_y_pos_tol"), BT::BidirectionalPort<bool>("new_goal")}; + BT::PortsList async_go_to_pose_inputs_ports = {BT::OutputPort<double>("x"), BT::OutputPort<double>("y"), BT::OutputPort<double>("yaw"), BT::OutputPort<double>("heading_tol"), BT::OutputPort<double>("x_y_pos_tol"), BT::OutputPort<bool>("new_goal")}; BT::PortsList set_goal_frame_inputs_ports = {BT::OutputPort<std::string>("frame_id")}; this->factory.registerIriAsyncAction("set_tiago_nav_go_to_pose_inputs", std::bind(&TiagoNavModuleBtClientAlgNode::set_tiago_nav_go_to_pose_inputs, this, std::placeholders::_1), async_go_to_pose_inputs_ports); -- GitLab