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led_effect: add led parameter to specify led namespace

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When using ROS namespace, subscription to mavros topics is broken
This commit is contained in:
Oleg Kalachev
2023-10-11 10:06:18 +03:00
parent d3bda9df48
commit af1b993e64
2 changed files with 11 additions and 6 deletions
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3
clover/launch/led.launch
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@@ -21,7 +21,8 @@
</node> </node>
<!-- high level led effects control, events notification with leds --> <!-- high level led effects control, events notification with leds -->
<node pkg="clover" name="led_effect" type="led" ns="led" clear_params="true" output="screen" if="$(arg led_effect)"> <node pkg="clover" name="led_effect" type="led" clear_params="true" output="screen" if="$(arg led_effect)">
<param name="led" value="led"/>
<param name="blink_rate" value="2"/> <param name="blink_rate" value="2"/>
<param name="fade_period" value="0.5"/> <param name="fade_period" value="0.5"/>
<param name="rainbow_period" value="5"/> <param name="rainbow_period" value="5"/>

14
clover/src/led.cpp
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@@ -309,15 +309,19 @@ int main(int argc, char **argv)
nh_priv.param("notify/low_battery/threshold", low_battery_threshold, 3.7); nh_priv.param("notify/low_battery/threshold", low_battery_threshold, 3.7);
nh_priv.param("notify/error/ignore", error_ignore, {}); nh_priv.param("notify/error/ignore", error_ignore, {});
ros::service::waitForService("set_leds"); // cannot work without set_leds service std::string led; // led namespace
set_leds_srv = nh.serviceClient<led_msgs::SetLEDs>("set_leds", true); nh_priv.param("led", led, std::string("led"));
if (!led.empty()) led += "/";
ros::service::waitForService(led + "set_leds"); // cannot work without set_leds service
set_leds_srv = nh.serviceClient<led_msgs::SetLEDs>(led + "set_leds", true);
// wait for leds count info // wait for leds count info
handleState(*ros::topic::waitForMessage<led_msgs::LEDStateArray>("state", nh)); handleState(*ros::topic::waitForMessage<led_msgs::LEDStateArray>(led + "state", nh));
auto state_sub = nh.subscribe("state", 1, &handleState); auto state_sub = nh.subscribe(led + "state", 1, &handleState);
auto set_effect = nh.advertiseService("set_effect", &setEffect); auto set_effect = nh.advertiseService(led + "set_effect", &setEffect);
auto mavros_state_sub = nh.subscribe("mavros/state", 1, &handleMavrosState); auto mavros_state_sub = nh.subscribe("mavros/state", 1, &handleMavrosState);
auto battery_sub = nh.subscribe("mavros/battery", 1, &handleBattery); auto battery_sub = nh.subscribe("mavros/battery", 1, &handleBattery);