From f8214f3e0162fcbd0ca9382b0d00bdab2f5863ee Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 31 Dec 2014 09:19:57 +0100 Subject: manual input fix variable names --- .../ros/nodes/manual_input/manual_input.cpp | 34 +++++++++++----------- .../ros/nodes/manual_input/manual_input.h | 8 ++--- 2 files changed, 21 insertions(+), 21 deletions(-) (limited to 'src/platforms/ros/nodes') diff --git a/src/platforms/ros/nodes/manual_input/manual_input.cpp b/src/platforms/ros/nodes/manual_input/manual_input.cpp index b125bb180..bd2017033 100644 --- a/src/platforms/ros/nodes/manual_input/manual_input.cpp +++ b/src/platforms/ros/nodes/manual_input/manual_input.cpp @@ -45,25 +45,25 @@ ManualInput::ManualInput() : _n(), - joy_sub(_n.subscribe("joy", 10, &ManualInput::JoyCallback, this)), + _joy_sub(_n.subscribe("joy", 10, &ManualInput::JoyCallback, this)), _man_ctrl_sp_pub(_n.advertise("manual_control_setpoint", 10)) { /* Load parameters, default values work for Microsoft XBox Controller */ - _n.param("map_x", param_axes_map[0], 4); - _n.param("scale_x", param_axes_scale[0], 1.0); - _n.param("off_x", param_axes_offset[0], 0.0); + _n.param("map_x", _param_axes_map[0], 4); + _n.param("scale_x", _param_axes_scale[0], 1.0); + _n.param("off_x", _param_axes_offset[0], 0.0); - _n.param("map_y", param_axes_map[1], 3); - _n.param("scale_y", param_axes_scale[1], -1.0); - _n.param("off_y", param_axes_offset[1], 0.0); + _n.param("map_y", _param_axes_map[1], 3); + _n.param("scale_y", _param_axes_scale[1], -1.0); + _n.param("off_y", _param_axes_offset[1], 0.0); - _n.param("map_z", param_axes_map[2], 2); - _n.param("scale_z", param_axes_scale[2], -0.5); - _n.param("off_z", param_axes_offset[2], 0.5); + _n.param("map_z", _param_axes_map[2], 2); + _n.param("scale_z", _param_axes_scale[2], -0.5); + _n.param("off_z", _param_axes_offset[2], 0.5); - _n.param("map_r", param_axes_map[3], 0); - _n.param("scale_r", param_axes_scale[3], -1.0); - _n.param("off_r", param_axes_offset[3], 0.0); + _n.param("map_r", _param_axes_map[3], 0); + _n.param("scale_r", _param_axes_scale[3], -1.0); + _n.param("off_r", _param_axes_offset[3], 0.0); } void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg) @@ -72,10 +72,10 @@ void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg) /* Fill px4 manual control setpoint topic with contents from ros joystick */ /* Map sticks to x, y, z, r */ - MapAxis(msg, param_axes_map[0], param_axes_scale[0], param_axes_offset[0], msg_out.x); - MapAxis(msg, param_axes_map[1], param_axes_scale[1], param_axes_offset[1], msg_out.y); - MapAxis(msg, param_axes_map[2], param_axes_scale[2], param_axes_offset[2], msg_out.z); - MapAxis(msg, param_axes_map[3], param_axes_scale[3], param_axes_offset[3], msg_out.r); + MapAxis(msg, _param_axes_map[0], _param_axes_scale[0], _param_axes_offset[0], msg_out.x); + MapAxis(msg, _param_axes_map[1], _param_axes_scale[1], _param_axes_offset[1], msg_out.y); + MapAxis(msg, _param_axes_map[2], _param_axes_scale[2], _param_axes_offset[2], msg_out.z); + MapAxis(msg, _param_axes_map[3], _param_axes_scale[3], _param_axes_offset[3], msg_out.r); //ROS_INFO("x: %1.4f y: %1.4f z: %1.4f r: %1.4f", msg_out.x, msg_out.y, msg_out.z, msg_out.r); /* Map buttons to switches */ diff --git a/src/platforms/ros/nodes/manual_input/manual_input.h b/src/platforms/ros/nodes/manual_input/manual_input.h index 22a158985..f579acbb7 100644 --- a/src/platforms/ros/nodes/manual_input/manual_input.h +++ b/src/platforms/ros/nodes/manual_input/manual_input.h @@ -59,13 +59,13 @@ protected: void MapAxis(const sensor_msgs::JoyConstPtr& msg, int map_index, double scale, double offset, float &out); ros::NodeHandle _n; - ros::Subscriber joy_sub; + ros::Subscriber _joy_sub; ros::Publisher _man_ctrl_sp_pub; /* Parameters */ - int param_axes_map[4]; - double param_axes_scale[4]; - double param_axes_offset[4]; + int _param_axes_map[4]; + double _param_axes_scale[4]; + double _param_axes_offset[4]; }; -- cgit v1.2.3