From: Brian Gerkey <brian@ge...> - 2006-12-01 21:08:05
On Nov 29, 2006, at 5:17 PM, Andrew Fisher wrote:
> Again, I'm working on a driver to take sonar range data and convert
> it to a laser data scan. I'm attempting to set the laser
> configuration using this->Publish(), but my driver hangs when it
> reaches that spot in the code. I've attached the driver. The code
> in question is in the Setup() function. I'd appreciate any help
> with why my code hangs.
> Furthermore, is it even necessary to set the laser configuration
> before publishing data scans?
No. You just have to be prepared to include the appropriate
configuration meta-data in each scan as it is published. You can
also (optionally) support to the GET_CONFIG and SET_CONFIG requests.
You would do this in your ProcessMessage() method by recognizing and
properly responding to the requests.
In any case, you don't need to push or store the configuration data
anywhere ahead of time.