From c2141f8dd3bd349f093a3aa01eb0b4db4e14ec70 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Wed, 11 Jul 2018 16:39:03 +0200
Subject: [PATCH] Steering msg as UInt8 instead of Int16
---
include/twist_to_manual_control_alg_node.h | 3 ++-
src/twist_to_manual_control_alg_node.cpp | 10 +++++-----
2 files changed, 7 insertions(+), 6 deletions(-)
diff --git a/include/twist_to_manual_control_alg_node.h b/include/twist_to_manual_control_alg_node.h
index 81dcd97..e244224 100644
--- a/include/twist_to_manual_control_alg_node.h
+++ b/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_;
diff --git a/src/twist_to_manual_control_alg_node.cpp b/src/twist_to_manual_control_alg_node.cpp
index e3250cb..e69a043 100644
--- a/src/twist_to_manual_control_alg_node.cpp
+++ b/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_);
}
--
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