update : lightIndicator ros interface via topic (msg type : Int8)

scifiswapnil · May 1, 2020 · 79ebf7c · 79ebf7c
1 parent 1d49387
commit 79ebf7c
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Showing 2 changed files with 12 additions and 5 deletions.
diff --git a/src/stageros.cpp b/src/stageros.cpp
@@ -40,7 +40,6 @@
 
 // roscpp
 #include <ros/ros.h>
-// #include <std_msgs/Bool.h>
 #include <boost/thread/mutex.hpp>
 #include <boost/thread/thread.hpp>
 #include <sensor_msgs/LaserScan.h>
@@ -49,7 +48,7 @@
 #include <sensor_msgs/CameraInfo.h>
 #include <nav_msgs/Odometry.h>
 #include <geometry_msgs/Twist.h>
-#include <std_msgs/Float64.h>
+#include <std_msgs/Int8.h>
 #include <rosgraph_msgs/Clock.h>
 
 #include <std_srvs/Empty.h>
@@ -167,7 +166,7 @@ class StageNode
 
     // Message callback for a MsgBaseVel message, which set velocities.
     void cmdvelReceived(int idx, const boost::shared_ptr<geometry_msgs::Twist const>& msg);
-    void lightReceived(int idx, const boost::shared_ptr<std_msgs::Float64 const>& msg);
+    void lightReceived(int idx, const boost::shared_ptr<std_msgs::Int8 const>& msg);
 
     // Service callback for soft reset
     bool cb_reset_srv(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
@@ -273,7 +272,7 @@ StageNode::cb_reset_srv(std_srvs::Empty::Request& request, std_srvs::Empty::Resp
 
 
 void
-StageNode::lightReceived(int idx, const boost::shared_ptr<std_msgs::Float64 const>& msg)
+StageNode::lightReceived(int idx, const boost::shared_ptr<std_msgs::Int8 const>& msg)
 {
     boost::mutex::scoped_lock lock(msg_lock);
     this->lightmodels[idx]->SetState(msg->data) ;
@@ -405,7 +404,7 @@ StageNode::SubscribeModels()
 
         for (size_t s = 0;  s < new_robot->lasermodels.size(); ++s)
         {
-            new_robot->light_subs.push_back(n_.subscribe<std_msgs::Float64>(mapName(LIGHTS, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10, boost::bind(&StageNode::lightReceived, this, r, _1)));
+            new_robot->light_subs.push_back(n_.subscribe<std_msgs::Int8>(mapName(LIGHTS, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10, boost::bind(&StageNode::lightReceived, this, r, _1)));
         }
 
         for (size_t s = 0;  s < new_robot->lasermodels.size(); ++s)

diff --git a/world/willow-four-erratics.world b/world/willow-four-erratics.world
@@ -4,6 +4,13 @@ define block model
   gui_nose 0
 )
 
+define light lightindicator
+(
+# generic model properties
+size [0.03 0.03 0.03]
+color "red"
+)
+
 define topurg ranger
 (
 	sensor( 			
@@ -24,6 +31,7 @@ define erratic position
   origin [-0.05 0 0 0]
   gui_nose 1
   drive "diff"
+  light()
   topurg(pose [ 0.050 0.000 0 0.000 ])
 )