Add option to publish digital input data separately #128
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at-wat
reviewed
Apr 17, 2024
src/ypspur_ros.cpp
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Comment on lines
516
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518
| pubs_["di/" + param.name_] = compat::advertise<std_msgs::Bool>( | ||
| nh_, "di/" + param.name_, | ||
| pnh_, "di/" + param.name_, 1); |
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New topics don't need to support old topic path
Suggested change
| pubs_["di/" + param.name_] = compat::advertise<std_msgs::Bool>( | |
| nh_, "di/" + param.name_, | |
| pnh_, "di/" + param.name_, 1); | |
| pubs_["di/" + param.name_] = nh_.advertise<std_msgs::Bool>("di/" + param.name_, 1); |
src/ypspur_ros.cpp
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| @@ -482,6 +483,9 @@ class YpspurRosNode | |||
| pnh_, "ad/" + ads_[i].name_, 1); | |||
| } | |||
| digital_input_enable_ = false; | |||
| pnh_.param("descrete_input", digital_input_discrete_, false); | |||
| if (digital_input_discrete_) | |||
| ROS_INFO("Digital input publish separatly"); | |||
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Suggested change
| ROS_INFO("Digital input publish separatly"); | |
| ROS_INFO("Digital input will be published separately"); |
[115] PASSED on noeticAll tests passed |
at-wat
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Currently, digital input data will publish as DigitalInput. It is useful to handle time synchronized data but it need to transform to use as common message type.
So I added option parameter to switch output message type.
In default, same behavior as current version. If set
descrete_inputparameter to true, it will switch to publishingstd_msgs::Booltype.