Steering msg as UInt8 instead of Int16

include/twist_to_manual_control_alg_node.h

@@ -30,6 +30,7 @@
 
 // [publisher subscriber headers]
 #include <std_msgs/Int16.h>
+#include <std_msgs/UInt8.h>
 #include <geometry_msgs/Twist.h>
 
 // [service client headers]
@@ -46,7 +47,7 @@ class TwistToManualControlAlgNode : public algorithm_base::IriBaseAlgorithm<Twis
     // [publisher attributes]
 
     ros::Publisher steering_publisher_;
-    std_msgs::Int16 steering_Int16_msg_;
+    std_msgs::UInt8 steering_UInt8_msg_;
 
     ros::Publisher speed_publisher_;
     std_msgs::Int16 speed_Int16_msg_;

src/twist_to_manual_control_alg_node.cpp

@@ -7,7 +7,7 @@ TwistToManualControlAlgNode::TwistToManualControlAlgNode(void) :
   //this->loop_rate_ = 2;//in [Hz]
 
   // [init publishers]
-  this->steering_publisher_ = this->public_node_handle_.advertise<std_msgs::Int16>("steering", 1);
+  this->steering_publisher_ = this->public_node_handle_.advertise<std_msgs::UInt8>("steering", 1);
   this->speed_publisher_ = this->public_node_handle_.advertise<std_msgs::Int16>("speed", 1);
   
   // [init subscribers]
@@ -36,7 +36,7 @@ void TwistToManualControlAlgNode::mainNodeThread(void)
   // Initialize the topic message structure
 
   // Initialize the topic message structure
-  //this->steering_Int16_msg_.data = my_var;
+  //this->steering_UInt8_msg_.data = my_var;
 
   // Initialize the topic message structure
   //this->speed_Int16_msg_.data = my_var;
@@ -49,7 +49,7 @@ void TwistToManualControlAlgNode::mainNodeThread(void)
   // [publish messages]
 
   // Uncomment the following line to publish the topic message
-  //this->steering_publisher_.publish(this->steering_Int16_msg_);
+  //this->steering_publisher_.publish(this->steering_UInt8_msg_);
 
   // Uncomment the following line to publish the topic message
   //this->speed_publisher_.publish(this->speed_Int16_msg_);
@@ -95,7 +95,7 @@ void TwistToManualControlAlgNode::cmd_vel_callback(const geometry_msgs::Twist::C
   
   steering = (((angular  - min_in) * (max_out - min_out)) / (max_in - min_in)) + min_out;
   
-  this->steering_Int16_msg_.data = steering;
+  this->steering_UInt8_msg_.data = steering;
   
   //SPEED
   int speed;
@@ -133,7 +133,7 @@ void TwistToManualControlAlgNode::cmd_vel_callback(const geometry_msgs::Twist::C
   this->speed_Int16_msg_.data = speed;
 
   //PUBLISH
-  this->steering_publisher_.publish(this->steering_Int16_msg_);
+  this->steering_publisher_.publish(this->steering_UInt8_msg_);
   this->speed_publisher_.publish(this->speed_Int16_msg_);
 }