[Personalrobots-commit] SF.net SVN: personalrobots: [148] pkg/trunk/hokuyourg_player/ hokuyourg_player.cc

[<jl...@us...>]

Revision: 148
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=148&view=rev
Author:   jleibs
Date:     2008-04-21 14:46:26 -0700 (Mon, 21 Apr 2008)

Log Message:
-----------
Added ROS parameter for port.

Modified Paths:
--------------
    pkg/trunk/hokuyourg_player/hokuyourg_player.cc

Modified: pkg/trunk/hokuyourg_player/hokuyourg_player.cc
===================================================================
--- pkg/trunk/hokuyourg_player/hokuyourg_player.cc	2008-04-21 21:44:30 UTC (rev 147)
+++ pkg/trunk/hokuyourg_player/hokuyourg_player.cc	2008-04-21 21:46:26 UTC (rev 148)
@@ -25,6 +25,9 @@
 
     HokuyoNode() : ROS_Slave()
     {
+      register_source(fl = new FlowLaserScan("scans"));
+
+
       // libplayercore boiler plate
       player_globals_init();
       itable_init();
@@ -50,8 +53,15 @@
       this->cf->InsertFieldValue(0,"unit_angle","degrees");
       this->cf->InsertFieldValue(0,"min_angle","-90");
       this->cf->InsertFieldValue(0,"max_angle","90");
-      this->cf->InsertFieldValue(0,"port","/dev/ttyACM0");
 
+      string port;
+      if (!get_string_param(".port", port))
+	port = "/dev/ttyACM0";
+
+      printf("Setting port to: %s\n",port.c_str());
+
+      this->cf->InsertFieldValue(0,"port",port.c_str());
+
       // Create an instance of the driver, passing it the ConfigFile object.
       // The -1 tells it to look into the "global" section of the ConfigFile,
       // which is where ConfigFile::InsertFieldValue() put the parameters.
@@ -68,7 +78,6 @@
       // Create a message queue
       this->q = QueuePointer(false,PLAYER_QUEUE_LEN);
 
-      this->register_source(this->fl = new FlowLaserScan("scans"));
     }
 
     ~HokuyoNode()


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