Re: [Orca-robotics-devel] 2 bugs (cmake, gps2localise2d), 1 request (orcateleop)

[Alex B. <a.b...@ac...>]

Hi Luiz,

Bug 2 (gps2localise2d) is in my code.  I applied the patch, thanks very much!
(I'll defer to others for the other issues).

Alex

> BUG 2) I want to use gps2localise2d without odometry (i.e., option
> Gps2Localise2d.Config.RequireOdometry=0)
> There is code to generate a fake VehicleDescription in this case, but
> this code does not create a VehicleControlDescription. Since it is the
> control field that is checked in simpledriver.cpp,  you get an
> exception when gps2localise2d runs whithout odometry.
> I solved this problem with these extra 3 lines:
> orca/src/components/gps2localise2d$ svn diff mainthread.cpp
> Index: mainthread.cpp
> ===================================================================
> --- mainthread.cpp      (revisão 5659)
> +++ mainthread.cpp      (cópia de trabalho)
> @@ -51,6 +51,9 @@
>              orca::VehicleGeometryDescriptionPtr geometry = new
> orca::VehicleGeometryDescription;
>              geometry->type = orca::VehicleGeometryOther;
>              vehicleDescr.geometry = geometry;
> +           orca::VehicleControlDescriptionPtr ctrl = new
> orca::VehicleControlDescription;
> +           ctrl->type = orca::VehicleControlOther;
> +           vehicleDescr.control = ctrl;
>          }
>          else
>          {