From ac6f54761649ae838683d0214c01b82fead69f57 Mon Sep 17 00:00:00 2001
From: nrodriguez <nicolas.adrian.rodriguez@upc.edu>
Date: Fri, 16 Jul 2021 15:52:17 +0100
Subject: [PATCH] Fixed compilation bugs on waypoints functions
---
src/tiago_nav_bt_module.cpp | 13 ++++++++-----
1 file changed, 8 insertions(+), 5 deletions(-)
diff --git a/src/tiago_nav_bt_module.cpp b/src/tiago_nav_bt_module.cpp
index 6fc5357..5e51e47 100644
--- a/src/tiago_nav_bt_module.cpp
+++ b/src/tiago_nav_bt_module.cpp
@@ -437,11 +437,11 @@ BT::NodeStatus CTiagoNavModuleBT::sync_tiago_nav_go_to_waypoints(BT::TreeNode& s
first_index_goal = first_index.value();
num_goal = num.value();
if (!continue_on_error)
- this->tiago_nav_module.go_to_waypoint(group_goal, first_index_goal, num_goal);
+ this->tiago_nav_module.go_to_waypoints(group_goal, first_index_goal, num_goal);
else
{
continue_on_error_goal = continue_on_error.value();
- this->tiago_nav_module.go_to_waypoint(group_goal, first_index_goal, num_goal, continue_on_error_goal);
+ this->tiago_nav_module.go_to_waypoints(group_goal, first_index_goal, num_goal, continue_on_error_goal);
}
return BT::NodeStatus::SUCCESS;
}
@@ -463,7 +463,10 @@ BT::NodeStatus CTiagoNavModuleBT::async_tiago_nav_go_to_waypoints(BT::TreeNode&
if (new_goal)
{
- double x_goal, y_goal, x_y_pos_tol_goal;
+ std::string group_goal;
+ unsigned int first_index_goal, num_goal;
+ bool continue_on_error_goal;
+
if (!group || !first_index || !num)
{
ROS_ERROR("CTiagoNavModuleBT::async_tiago_nav_go_to_waypoints-> Incorrect or missing input. It needs the following input ports: group(std::string), first_index(unsigned int), num(unsigned int) and [Optional] continue_on_error(bool)");
@@ -474,11 +477,11 @@ BT::NodeStatus CTiagoNavModuleBT::async_tiago_nav_go_to_waypoints(BT::TreeNode&
first_index_goal = first_index.value();
num_goal = num.value();
if (!continue_on_error)
- this->tiago_nav_module.go_to_waypoint(group_goal, first_index_goal, num_goal);
+ this->tiago_nav_module.go_to_waypoints(group_goal, first_index_goal, num_goal);
else
{
continue_on_error_goal = continue_on_error.value();
- this->tiago_nav_module.go_to_waypoint(group_goal, first_index_goal, num_goal, continue_on_error_goal);
+ this->tiago_nav_module.go_to_waypoints(group_goal, first_index_goal, num_goal, continue_on_error_goal);
}
}
if (this->tiago_nav_module.is_finished())
--
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