Commit 15385d9a authored by Víctor Silos Sánchez's avatar Víctor Silos Sánchez
Browse files

Until 28 April

parent 36bc2f0f
#include "foot_alg_node.h"
//#include "foot_alg.cpp"
using namespace std;
#include <string>
......@@ -11,6 +12,7 @@ FootAlgNode::FootAlgNode(void) :
// [init publishers]
this->pose_surface_publisher_ = this->public_node_handle_.advertise<geometry_msgs::PoseStamped>("pose_surface", 10);
this->myfeet_publisher_ = this->public_node_handle_.advertise<std_msgs::String>("myfeet", 10);
// [init subscribers]
......@@ -28,6 +30,8 @@ FootAlgNode::~FootAlgNode(void)
// [free dynamic memory]
}
void FootAlgNode::mainNodeThread(void)
{
string child_righthand("/brix_2/user_1/right_hand");
......@@ -63,7 +67,7 @@ void FootAlgNode::mainNodeThread(void)
this->pose_surface_PoseStamped_msg_.pose.orientation.z = 0;
this->pose_surface_PoseStamped_msg_.pose.orientation.w = 0;
this->pose_surface_PoseStamped_msg_.header.stamp = ros::Time(0);
this->pose_surface_PoseStamped_msg_.header.frame_id = "iri_wam_link_base";
this->pose_surface_PoseStamped_msg_.header.frame_id = child_robot;
// Initialize the topic message structure
......@@ -80,7 +84,7 @@ void FootAlgNode::mainNodeThread(void)
// Uncomment the following line to publish the topic message
// Uncomment the following line to publish the topic message
this->myfeet_publisher_.publish(this->myfeet_String_msg_);
}
......
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