Revision 708960ff src/server/middleware_ros.cpp

View differences:

src/server/middleware_ros.cpp
38 38 
    : Middleware(scope, c){
39 39 

  		




  40
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    printf("> using ROS middleware\n");


  		




  
  41
  
    

  		




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    //start ros core?


  		




  42
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    if (ros::isInitialized()){


  		




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


  		




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        tick_necessary = false;


  		




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    }else{


  		




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        //we have to take care of ros


  		




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        printf("> no active ros middleware, calling ros::init() and we will call tick() periodically!");


  		




  
  48
  
    
        printf("> no active ros middleware, calling ros::init() and we will call tick() periodically!\n");


  		




  48
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        string node_name = "humotion_server__"+ scope;


  		




  49
  
  
    
	node_name.erase(std::remove(node_name.begin(), node_name.end(), '/'), node_name.end());


  		




  
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        node_name.erase(std::remove(node_name.begin(), node_name.end(), '/'), node_name.end());


  		




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        printf("> registering on ROS as node %s\n",node_name.c_str());


  		




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        ros::M_string no_remapping;


  		




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        ros::init(no_remapping, node_name);


  		












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