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Update related to namespace #50

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merged 1 commit into from
Dec 24, 2024
Merged

Update related to namespace #50

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30 changes: 15 additions & 15 deletions launch/motion_decision.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -36,17 +36,17 @@
<arg name="battery/full_charge_voltage" default="24.0"/>
<arg name="battery/cutoff_voltage" default="20.0"/>
<!-- Published topic -->
<arg name="cmd_vel" default="/cmd_vel"/>
<arg name="cmd_vel" default="cmd_vel"/>
<!-- Subscribed topics -->
<arg name="local_path/cmd_vel" default="/local_path/cmd_vel"/>
<arg name="local_map" default="/local_map"/>
<arg name="odom" default="/odom"/>
<arg name="front_laser/scan" default="/front_laser/scan"/>
<arg name="rear_laser/scan" default="/rear_laser/scan"/>
<arg name="battery_voltage" default="/battery_voltage"/>
<arg name="local_path/cmd_vel" default="local_path/cmd_vel"/>
<arg name="local_map" default="local_map"/>
<arg name="odom" default="odom"/>
<arg name="front_laser/scan" default="front_laser/scan"/>
<arg name="rear_laser/scan" default="rear_laser/scan"/>
<arg name="battery_voltage" default="battery_voltage"/>

<!-- run motion_decision node -->
<node pkg="motion_decision" type="motion_decision" name="motion_decision" ns="$(arg ns)" output="$(arg output)" respawn="true">
<node pkg="motion_decision" type="motion_decision" name="motion_decision" output="$(arg output)" respawn="true">
<!-- MotionDecisionParams -->
<param name="use_rear_laser" value="$(arg use_rear_laser)"/>
<param name="use_360_laser" value="$(arg use_360_laser)"/>
Expand Down Expand Up @@ -80,13 +80,13 @@
<param name="battery/full_charge_voltage" value="$(arg battery/full_charge_voltage)"/>
<param name="battery/cutoff_voltage" value="$(arg battery/cutoff_voltage)"/>
<!-- Published topic -->
<remap from="/cmd_vel" to="$(arg cmd_vel)"/>
<remap from="cmd_vel" to="$(arg cmd_vel)"/>
<!-- Subscribed topics -->
<remap from="/local_path/cmd_vel" to="$(arg local_path/cmd_vel)"/>
<remap from="/local_map" to="$(arg local_map)"/>
<remap from="/odom" to="$(arg odom)"/>
<remap from="/front_laser/scan" to="$(arg front_laser/scan)"/>
<remap from="/rear_laser/scan" to="$(arg rear_laser/scan)"/>
<remap from="/battery_voltage" to="$(arg battery_voltage)"/>
<remap from="local_path/cmd_vel" to="$(arg local_path/cmd_vel)"/>
<remap from="local_map" to="$(arg local_map)"/>
<remap from="odom" to="$(arg odom)"/>
<remap from="front_laser/scan" to="$(arg front_laser/scan)"/>
<remap from="rear_laser/scan" to="$(arg rear_laser/scan)"/>
<remap from="battery_voltage" to="$(arg battery_voltage)"/>
</node>
</launch>
28 changes: 14 additions & 14 deletions src/motion_decision.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,22 +14,22 @@

MotionDecision::MotionDecision(void) : private_nh_("~")
{
intersection_flag_pub_ = nh_.advertise<std_msgs::Bool>("/intersection_flag", 1, true);
cmd_vel_pub_ = nh_.advertise<geometry_msgs::Twist>("/cmd_vel", 1, true);

emergency_stop_flag_sub_ = nh_.subscribe("/emergency_stop", 1, &MotionDecision::emergency_stop_flag_callback, this);
front_laser_sub_ = nh_.subscribe("/front_laser/scan", 1, &MotionDecision::front_laser_callback, this);
joy_sub_ = nh_.subscribe("/joy", 1, &MotionDecision::joy_callback, this);
local_path_cmd_vel_sub_ = nh_.subscribe("/local_path/cmd_vel", 1, &MotionDecision::local_path_cmd_vel_callback, this);
local_map_sub_ = nh_.subscribe("/local_map", 1, &MotionDecision::local_map_callback, this);
odom_sub_ = nh_.subscribe("/odom", 1, &MotionDecision::odom_callback, this);
rear_laser_sub_ = nh_.subscribe("/rear_laser/scan", 1, &MotionDecision::rear_laser_callback, this);
battery_voltage_sub_ = nh_.subscribe("/battery_voltage", 1, &MotionDecision::battery_voltage_callback, this);
footprint_sub_ = nh_.subscribe("/footprint", 1, &MotionDecision::footprint_callback, this);
intersection_flag_pub_ = nh_.advertise<std_msgs::Bool>("intersection_flag", 1, true);
cmd_vel_pub_ = nh_.advertise<geometry_msgs::Twist>("cmd_vel", 1, true);

emergency_stop_flag_sub_ = nh_.subscribe("emergency_stop", 1, &MotionDecision::emergency_stop_flag_callback, this);
front_laser_sub_ = nh_.subscribe("front_laser/scan", 1, &MotionDecision::front_laser_callback, this);
joy_sub_ = nh_.subscribe("joy", 1, &MotionDecision::joy_callback, this);
local_path_cmd_vel_sub_ = nh_.subscribe("local_path/cmd_vel", 1, &MotionDecision::local_path_cmd_vel_callback, this);
local_map_sub_ = nh_.subscribe("local_map", 1, &MotionDecision::local_map_callback, this);
odom_sub_ = nh_.subscribe("odom", 1, &MotionDecision::odom_callback, this);
rear_laser_sub_ = nh_.subscribe("rear_laser/scan", 1, &MotionDecision::rear_laser_callback, this);
battery_voltage_sub_ = nh_.subscribe("battery_voltage", 1, &MotionDecision::battery_voltage_callback, this);
footprint_sub_ = nh_.subscribe("footprint", 1, &MotionDecision::footprint_callback, this);

recovery_mode_flag_server_ =
nh_.advertiseService("/recovery/available", &MotionDecision::recovery_mode_flag_callback, this);
task_stop_flag_server_ = nh_.advertiseService("/task/stop", &MotionDecision::task_stop_flag_callback, this);
nh_.advertiseService("recovery/available", &MotionDecision::recovery_mode_flag_callback, this);
task_stop_flag_server_ = nh_.advertiseService("task/stop", &MotionDecision::task_stop_flag_callback, this);

load_params();
if (params_.use_360_laser || params_.use_local_map)
Expand Down