From 3dd169c64df2611a4bf633b891045bdba4b51d5f Mon Sep 17 00:00:00 2001
From: Hoop77 <p.badenhoop@gmx.de>
Date: Wed, 16 May 2018 14:53:38 +0200
Subject: [PATCH] -
---
modules/catkin_ws/src/car/src/ultrasonic/Ultrasonic.cpp | 6 ++----
1 file changed, 2 insertions(+), 4 deletions(-)
diff --git a/modules/catkin_ws/src/car/src/ultrasonic/Ultrasonic.cpp b/modules/catkin_ws/src/car/src/ultrasonic/Ultrasonic.cpp
index 4137e638..847e7b17 100644
--- a/modules/catkin_ws/src/car/src/ultrasonic/Ultrasonic.cpp
+++ b/modules/catkin_ws/src/car/src/ultrasonic/Ultrasonic.cpp
@@ -22,16 +22,14 @@ void Ultrasonic::onInit()
messageOStream.write("onInit", "START");
ussData = nh.advertise<ussDataMsg>("ussData", 1);
- //sensor.init();
+ sensor.init();
timer = networking::time::Timer::create(net);
timer->startPeriodicTimeout(
std::chrono::milliseconds(UltrasonicSensor::DELAY),
[&]
{
ussDataMsg msg;
- //auto distance = streamMedianFilter.moveWindow(sensor.getDistance());
- static int distance = 0;
- distance++;
+ auto distance = streamMedianFilter.moveWindow(sensor.getDistance());
msg.distance = distance;
msg.timestamp = ros::Time::now();
ussData.publish(msg);
--
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