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Fix node name empty related to pepper_robot issue #35 #85

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merged 2 commits into from
Apr 12, 2017
Merged

Fix node name empty related to pepper_robot issue #35 #85

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2076732
Fix node name issue #35
PacoDu Apr 7, 2017
653cb41
Update naoqi_driver.cpp
PacoDu Apr 10, 2017
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3 changes: 2 additions & 1 deletion launch/naoqi_driver.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,8 @@
<arg name="nao_port" default="$(optenv NAO_PORT 9559)" />
<arg name="roscore_ip" default="127.0.0.1" />
<arg name="network_interface" default="eth0" />
<arg name="namespace" default="naoqi_driver" />

<node pkg="naoqi_driver" type="naoqi_driver_node" name="naoqi_driver" required="true" args="--qi-url=tcp://$(arg nao_ip):$(arg nao_port) --roscore_ip=$(arg roscore_ip) --network_interface=$(arg network_interface)" output="screen" />
<node pkg="naoqi_driver" type="naoqi_driver_node" name="$(arg namespace)" required="true" args="--qi-url=tcp://$(arg nao_ip):$(arg nao_port) --roscore_ip=$(arg roscore_ip) --network_interface=$(arg network_interface) --namespace=$(arg namespace)" output="screen" />

</launch>
2 changes: 1 addition & 1 deletion src/external_registration.cpp
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Expand Up @@ -39,7 +39,7 @@ int main(int argc, char** argv)
("help,h", "print help message")
("roscore_ip,r", po::value<std::string>(), "set the ip of the roscore to use")
("network_interface,i", po::value<std::string>()->default_value("eth0"), "set the network interface over which to connect")
("namespace,n", po::value<std::string>()->default_value(""), "set an explicit namespace in case ROS namespace variables cannot be used");
("namespace,n", po::value<std::string>()->default_value("naoqi_driver_node"), "set an explicit namespace in case ROS namespace variables cannot be used");

po::variables_map vm;
try
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17 changes: 12 additions & 5 deletions src/naoqi_driver.cpp
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Expand Up @@ -124,7 +124,14 @@ Driver::Driver( qi::SessionPtr session, const std::string& prefix )
recorder_(boost::make_shared<recorder::GlobalRecorder>(prefix)),
buffer_duration_(helpers::recorder::bufferDefaultDuration)
{
naoqi::ros_env::setPrefix(prefix);
if(prefix == ""){
std::cout << "Error driver prefix must not be empty" << std::endl;
throw new ros::Exception("Error driver prefix must not be empty");
}
else {
naoqi::ros_env::setPrefix(prefix);
}

}

Driver::~Driver()
Expand Down Expand Up @@ -577,10 +584,10 @@ void Driver::registerDefaultConverter()

bool sonar_enabled = boot_config_.get( "converters.sonar.enabled", true);
size_t sonar_frequency = boot_config_.get( "converters.sonar.frequency", 10);

bool odom_enabled = boot_config_.get( "converters.odom.enabled", true);
size_t odom_frequency = boot_config_.get( "converters.odom.frequency", 10);

bool bumper_enabled = boot_config_.get( "converters.bumper.enabled", true);
bool hand_enabled = boot_config_.get( "converters.touch_hand.enabled", true);
bool head_enabled = boot_config_.get( "converters.touch_head.enabled", true);
Expand Down Expand Up @@ -826,7 +833,7 @@ void Driver::registerDefaultConverter()
event_map_.find("head_touch")->second.isPublishing(true);
}
}

/** Odom */
if ( odom_enabled )
{
Expand All @@ -838,7 +845,7 @@ void Driver::registerDefaultConverter()
lc->registerCallback( message_actions::LOG, boost::bind(&recorder::BasicRecorder<nav_msgs::Odometry>::bufferize, lr, _1) );
registerConverter( lc, lp, lr );
}

}


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2 changes: 1 addition & 1 deletion src/ros_env.hpp
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Expand Up @@ -90,7 +90,7 @@ static void setMasterURI( const std::string& uri, const std::string& network_int
remap["__ip"] = ::naoqi::ros_env::getROSIP(network_interface);
// init ros without a sigint-handler in order to shutdown correctly by naoqi
const char* ns_env = std::getenv("ROS_NAMESPACE");
ros::init( remap, (ns_env==NULL)?(std::string("naoqi_driver_node")):(::naoqi::ros_env::getPrefix()) , ros::init_options::NoSigintHandler );
ros::init( remap, (::naoqi::ros_env::getPrefix()), ros::init_options::NoSigintHandler );
// to prevent shutdown based on no existing nodehandle
ros::start();

Expand Down