From d22f1ff05c31b63c5d3e5833e7fa6d0399db471f Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 23 Jun 2021 10:53:29 +0200
Subject: [PATCH] Changes to handle the sempahores.
---
src/generate_launch.cpp | 13 ++++++++++---
1 file changed, 10 insertions(+), 3 deletions(-)
diff --git a/src/generate_launch.cpp b/src/generate_launch.cpp
index 3d7eaf2..95cc382 100644
--- a/src/generate_launch.cpp
+++ b/src/generate_launch.cpp
@@ -147,14 +147,21 @@ void generate_signals_launch(std::string &path,std::string &signals_file,COpendr
signal.get_type(type,subtype);
get_signal_type_info(type,subtype,signal.get_value(),name,marker);
out_file << std::endl;
- out_file << " <include file=\"$(find iri_sign_description)/launch/spawn_sign.launch\">" << std::endl;
+ if(type==SEMAPHORE_TYPE)
+ out_file << " <include file=\"$(find iri_sign_description)/launch/spawn_semaphore.launch\">" << std::endl;
+ else
+ out_file << " <include file=\"$(find iri_sign_description)/launch/spawn_sign.launch\">" << std::endl;
out_file << " <arg name=\"name\" value=\"" << name << "_" << signal.get_id() << "\"/>" << std::endl;
if(type==SEMAPHORE_TYPE)
+ {
out_file << " <arg name=\"model\" value=\"semaphore\"/>" << std::endl;
+ out_file << " <arg name=\"initial_state\" value=\"True\"/>" << std::endl;
+ }
else
+ {
out_file << " <arg name=\"model\" value=\"sign\"/>" << std::endl;
- out_file << " <arg name=\"tag\" value=\"" << marker << "\"/>" << std::endl;
- out_file << " <arg name=\"type\" value=\"" << name << "\"/>" << std::endl;
+ out_file << " <arg name=\"type\" value=\"" << name << "\"/>" << std::endl;
+ }
world=signal.get_world_pose();
out_file << " <arg name=\"x\" value=\"" << world.x << "\"/>" << std::endl;
out_file << " <arg name=\"y\" value=\"" << world.y << "\"/>" << std::endl;
--
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