From 6fb3194d71f3c426f97fca750e154b78ebbe313b Mon Sep 17 00:00:00 2001
From: Hoop77 <p.badenhoop@gmx.de>
Date: Tue, 8 May 2018 20:22:00 +0200
Subject: [PATCH] -
---
modules/catkin_ws/src/car/include/ultrasonic/Ultrasonic.h | 3 ++-
modules/catkin_ws/src/car/src/ultrasonic/Ultrasonic.cpp | 6 +++---
2 files changed, 5 insertions(+), 4 deletions(-)
diff --git a/modules/catkin_ws/src/car/include/ultrasonic/Ultrasonic.h b/modules/catkin_ws/src/car/include/ultrasonic/Ultrasonic.h
index 885116c1..c3d75a87 100644
--- a/modules/catkin_ws/src/car/include/ultrasonic/Ultrasonic.h
+++ b/modules/catkin_ws/src/car/include/ultrasonic/Ultrasonic.h
@@ -5,6 +5,7 @@
#include <ros/ros.h>
#include "boost/thread.hpp"
#include "USS_SRF02.h"
+#include <thread>
namespace car
{
@@ -20,7 +21,7 @@ namespace car
ros::NodeHandle nh_;
std::string name_;
ros::Publisher ussData;
- boost::thread main;
+ std::thread main;
};
}
#endif
diff --git a/modules/catkin_ws/src/car/src/ultrasonic/Ultrasonic.cpp b/modules/catkin_ws/src/car/src/ultrasonic/Ultrasonic.cpp
index a97965e4..78324b61 100644
--- a/modules/catkin_ws/src/car/src/ultrasonic/Ultrasonic.cpp
+++ b/modules/catkin_ws/src/car/src/ultrasonic/Ultrasonic.cpp
@@ -23,14 +23,14 @@ void Ultrasonic::onInit()
{
NODELET_INFO("Ultrasonic::onInit -- START");
ussData = nh_.advertise<ussDataMsg>("ussData", 1);
- main = boost::thread(
- [this]()
+ main = std::thread(
+ [this]
{
for (;;)
{
ussDataMsg msg;
auto distance = getDistance();
- std::cout << "distance: " << distance << "\n";
+ NODELET_INFO("distance: %d\n", distance);
msg.distance = distance;
ussData.publish(msg);
}
--
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