From b88d8c733417b0fa409b225f9f73a7f999709e4f Mon Sep 17 00:00:00 2001
From: Hoop77 <p.badenhoop@gmx.de>
Date: Sun, 29 Apr 2018 21:44:04 +0200
Subject: [PATCH] -
---
.../src/car/include/lanekeeping/Lanekeeping.h | 36 ++++++++-------
.../src/car/include/mavLink/MavLink.h | 4 +-
.../src/car/src/lanekeeping/Lanekeeping.cpp | 45 ++++++++++---------
.../catkin_ws/src/car/src/mavLink/MavLink.cpp | 4 +-
4 files changed, 47 insertions(+), 42 deletions(-)
diff --git a/modules/catkin_ws/src/car/include/lanekeeping/Lanekeeping.h b/modules/catkin_ws/src/car/include/lanekeeping/Lanekeeping.h
index 9446809b..c94ccd82 100644
--- a/modules/catkin_ws/src/car/include/lanekeeping/Lanekeeping.h
+++ b/modules/catkin_ws/src/car/include/lanekeeping/Lanekeeping.h
@@ -9,21 +9,25 @@
namespace car
{
- class Lanekeeping : public nodelet::Nodelet
- {
- public:
- virtual void onInit();
- Lanekeeping(ros::NodeHandle &nh, std::string &name);
- Lanekeeping();
- ~Lanekeeping();
- private:
- ros::NodeHandle nh_;
- std::string name_;
-
- ros::Publisher laneData;
- ros::Subscriber camData;
-
- void camDataCallback(const camDataMsg::ConstPtr& inMsg);
- };
+class Lanekeeping : public nodelet::Nodelet
+{
+public:
+ virtual void onInit();
+
+ Lanekeeping(ros::NodeHandle & nh, std::string & name);
+
+ Lanekeeping();
+
+ ~Lanekeeping();
+
+private:
+ ros::NodeHandle nh_;
+ std::string name_;
+
+ ros::Publisher laneData;
+ ros::Subscriber camData;
+
+ void camDataCallback(const camDataMsg::ConstPtr & inMsg);
+};
}
#endif
diff --git a/modules/catkin_ws/src/car/include/mavLink/MavLink.h b/modules/catkin_ws/src/car/include/mavLink/MavLink.h
index 4b0c17dd..63543688 100644
--- a/modules/catkin_ws/src/car/include/mavLink/MavLink.h
+++ b/modules/catkin_ws/src/car/include/mavLink/MavLink.h
@@ -42,9 +42,9 @@ private:
void onStmDataReceived();
- float convertSpeedToStm(float speed);
+ float convertSpeedToStm(float speed) const;
- float convertSpeedFromStm(float speed);
+ float convertSpeedFromStm(float speed) const;
networking::Networking net;
veloxProtocol::Connection::Ptr veloxConnection;
diff --git a/modules/catkin_ws/src/car/src/lanekeeping/Lanekeeping.cpp b/modules/catkin_ws/src/car/src/lanekeeping/Lanekeeping.cpp
index 6ef02126..499be717 100644
--- a/modules/catkin_ws/src/car/src/lanekeeping/Lanekeeping.cpp
+++ b/modules/catkin_ws/src/car/src/lanekeeping/Lanekeeping.cpp
@@ -10,27 +10,28 @@ PLUGINLIB_EXPORT_CLASS(car::Lanekeeping, nodelet::Nodelet);
namespace car
{
- Lanekeeping::Lanekeeping(ros::NodeHandle &nh, std::string &name) :
- nh_(nh),
- name_(name)
- { }
-
- Lanekeeping::Lanekeeping() {}
-
- Lanekeeping::~Lanekeeping() {}
-
- void Lanekeeping::onInit()
- {
- NODELET_INFO("Lanekeeping::onInit -- START");
- laneData = nh_.advertise<laneDataMsg>("laneData", 1);
- camData = nh_.subscribe("camData", 1, &Lanekeeping::camDataCallback, this);
- NODELET_INFO("Lanekeeping::onInit -- END");
- }
-
- void Lanekeeping::camDataCallback(const camDataMsg::ConstPtr& inMsg)
- {
+Lanekeeping::Lanekeeping(ros::NodeHandle & nh, std::string & name) :
+ nh_(nh), name_(name)
+{}
+
+Lanekeeping::Lanekeeping()
+{}
+
+Lanekeeping::~Lanekeeping()
+{}
+
+void Lanekeeping::onInit()
+{
+ NODELET_INFO("Lanekeeping::onInit -- START");
+ laneData = nh_.advertise<laneDataMsg>("laneData", 1);
+ camData = nh_.subscribe("camData", 1, &Lanekeeping::camDataCallback, this);
+ NODELET_INFO("Lanekeeping::onInit -- END");
+}
+
+void Lanekeeping::camDataCallback(const camDataMsg::ConstPtr & inMsg)
+{
// std::cout << "Lanekeeping recived new cam data ( ).\n";
- }
-
-
+}
+
+
}
diff --git a/modules/catkin_ws/src/car/src/mavLink/MavLink.cpp b/modules/catkin_ws/src/car/src/mavLink/MavLink.cpp
index 0d6b005d..a38efed0 100644
--- a/modules/catkin_ws/src/car/src/mavLink/MavLink.cpp
+++ b/modules/catkin_ws/src/car/src/mavLink/MavLink.cpp
@@ -65,13 +65,13 @@ void MavLink::onStmDataReceived()
stmData.publish(msg);
}
-float MavLink::convertSpeedToStm(float speed)
+float MavLink::convertSpeedToStm(float speed) const
{
// TODO: convert speed!
return speed;
}
-float MavLink::convertSpeedFromStm(float speed)
+float MavLink::convertSpeedFromStm(float speed) const
{
// TODO: convert speed!
return speed;
--
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