Revision 2cf3c285 server/src/MiddlewareROS.cpp

View differences:

server/src/MiddlewareROS.cpp
72 72 
    printf("> registering on ROS as node %s\n",node_name.c_str());
73 73 
    if (ros::isInitialized()){
74 74 
        //ros is already active, no need to take care of that
75 
        //FIXME: Instead of deciding based on ros::isInitialized() to tick or not,
76 
        //we shoud use our own MessageQueue and AsyncSpinner.
75 77 
        tick_necessary = false;
76 78 
    }else{
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        printf("> ROS not initialized, calling ros::init()\n");
......
86 88 
    ros::NodeHandle n;
87 89 

  		




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    printf("> setting up ROS services...\n");


  		




  89
  
  
    
    //FIXME//init_callback("speech",    LocalServer::CallbackPtr(new SpeechCallbackWrapper(this)));


  		




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    //ros::AsyncSpinner *spinner = new ros::AsyncSpinner(4); // Use 4 threads


  		




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    //spinner->start();


  		




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    tfListener.reset(new tf2_ros::TransformListener(tfBuffer));


  		




  
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    tfBuffer.clear();


  		




  
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    animation_action_server = new AnimationCallbackWrapper(this, scope, "animation");


  		




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    utterance_action_server = new UtteranceCallbackWrapper(this, scope, "utterance");


  		




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    current_emotion_action_server = new EmotionCallbackWrapper(this, scope, "currentEmotion");


  		




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    default_emotion_action_server = new EmotionCallbackWrapper(this, scope, "defaultEmotion");


  		




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    gaze_action_server = new GazeCallbackWrapper(this, scope, "gaze");


  		




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    lookat_action_server = new LookatCallbackWrapper(this, scope, "lookat");


  		




  
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    lookat_action_server = new LookatCallbackWrapper(this, scope, "lookat", tfBuffer);


  		




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    mouth_action_server = new MouthCallbackWrapper(this, scope, "mouth");


  		




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    speech_action_server = new SpeechCallbackWrapper(this, scope, "speech");


  		




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  ......




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        printf("> tts action service not available, will not do any TTS !\n");


  		




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    }


  		




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    printf("> init done\n");


  		




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}


  		




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