Revision 5d7ba19c src/server/middleware_ros.cpp

View differences:

src/server/middleware_ros.cpp
37 37 
using namespace humotion::server;
38 38 

  		




  39
  39
  
    
//! constructor


  		




  40
  
  
    
MiddlewareROS::MiddlewareROS(string scope, Controller *c) : Middleware(scope, c){


  		




  41
  
  
    
    printf("> using ROS middleware\n");


  		




  
  40
  
    
MiddlewareROS::MiddlewareROS(string scope, Controller *c)


  		




  
  41
  
    
    : Middleware(scope, c){


  		




  42
  42
  
    

  		




  
  43
  
    
    printf("> using ROS middleware\n");


  		




  43
  44
  
    
    //start ros core?


  		




  44
  45
  
    
    if (ros::isInitialized()){


  		




  45
  46
  
    
        //oh another process is doing ros comm, fine, we do not need to call it


  		




  ......




  104
  105
  
    

  		




  105
  106
  
    
//! callback to handle incoming gaze  target


  		




  106
  107
  
    
void MiddlewareROS::incoming_gaze_target(const humotion::gaze::ConstPtr& msg){


  		




  107
  
  
    
    ///printf("> incoming gaze_target [P:%3.1f, T:%3.1f, R:%3.1f] %s\n", msg->pan, msg->tilt, msg->roll, msg->type==humotion::gaze::ABSOLUTE?"ABSOLUTE":"RELATIVE");


  		




  108
  108
  
    
    GazeState gaze_state;


  		




  
  109
  
    
    ///printf("> incoming gaze_target [P:%3.1f, T:%3.1f, R:%3.1f] %s\n", msg->pan, msg->tilt, msg->roll, msg->type==humotion::gaze::ABSOLUTE?"ABSOLUTE":"RELATIVE");


  		




  109
  110
  
    

  		




  110
  111
  
    
    gaze_state.type = msg->type;


  		




  111
  112
  
    
    gaze_state.pan  = msg->pan;


  		












Also available in:  Unified diff