fixed small issue

uri-ocean-robotics · May 17, 2024 · 749cb05 · 749cb05
1 parent 18e58ed
commit 749cb05
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Showing 3 changed files with 11 additions and 6 deletions.
diff --git a/include/mvp_control/dictionary.h b/include/mvp_control/dictionary.h
@@ -85,7 +85,7 @@ namespace ctrl {
 
     static constexpr const char * SERVICE_CONTROL_ENABLE = "controller/enable";
     static constexpr const char * SERVICE_CONTROL_DISABLE = "controller/disable";
-    static constexpr const char * SERVICE_GET_CONTROLLER_STATE = "controller/state";
+    static constexpr const char * SERVICE_GET_CONTROLLER_STATE = "controller/get_state";
     static constexpr const char * SERVICE_GET_CONTROL_MODES = "controller/get_modes";
     static constexpr const char * SERVICE_SET_CONTROL_POINT = "controller/set_point";
     static constexpr const char * SERVICE_GET_ACTIVE_MODE = "controller/active_mode";

diff --git a/src/mvp_control/mvp_control_ros.cpp b/src/mvp_control/mvp_control_ros.cpp
@@ -1191,9 +1191,14 @@ bool MvpControlROS::f_cb_srv_disable(
 
 
 bool MvpControlROS::f_cb_srv_get_controller_state(
-        std_srvs::Trigger::Request req, std_srvs::Trigger::Response res) {
-    res.success = true;
-    res.message = m_enabled ? "enabled" : "disabled";
+        std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &resp) {
+    resp.success = true;
+    if(m_enabled){
+         resp.message = "enabled";
+    }
+    else{
+        resp.message = "disabled";
+    }
 
     return true;
 }

diff --git a/src/mvp_control/mvp_control_ros.h b/src/mvp_control/mvp_control_ros.h
@@ -353,8 +353,8 @@ namespace ctrl {
          * @return false
          */
         bool f_cb_srv_get_controller_state(
-            std_srvs::Trigger::Request req,
-            std_srvs::Trigger::Response resp);
+            std_srvs::Trigger::Request &req,
+            std_srvs::Trigger::Response &resp);
 
         /**
          * @brief Get active control mode