[Personalrobots-commit] SF.net SVN: personalrobots: [444] pkg/trunk

[<ge...@us...>]

Revision: 444
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=444&view=rev
Author:   gerkey
Date:     2008-05-15 18:10:19 -0700 (Thu, 15 May 2008)

Log Message:
-----------
disabled laser obstacle/u/gerkey/code/personalrobots/nav/wavefront_player/wavefront_player.cc

Modified Paths:
--------------
    pkg/trunk/nav/amcl_player/amcl_player.cc
    pkg/trunk/simulators/rosstage/rosstage.cc

Modified: pkg/trunk/nav/amcl_player/amcl_player.cc
===================================================================
--- pkg/trunk/nav/amcl_player/amcl_player.cc	2008-05-16 00:10:09 UTC (rev 443)
+++ pkg/trunk/nav/amcl_player/amcl_player.cc	2008-05-16 01:10:19 UTC (rev 444)
@@ -317,6 +317,11 @@
     localizedOdomMsg.pos.x = pdata->pos.px;
     localizedOdomMsg.pos.y = pdata->pos.py;
     localizedOdomMsg.pos.th = pdata->pos.pa;
+    localizedOdomMsg.header.stamp_secs = (unsigned long)floor(hdr->timestamp);
+    localizedOdomMsg.header.stamp_nsecs = 
+            (unsigned long)rint(1e9 * (hdr->timestamp -
+                                       localizedOdomMsg.header.stamp_secs));
+    localizedOdomMsg.__timestamp_override = true;
     publish("localizedpose", localizedOdomMsg);
 
     // Also request and publish the particle cloud

Modified: pkg/trunk/simulators/rosstage/rosstage.cc
===================================================================
--- pkg/trunk/simulators/rosstage/rosstage.cc	2008-05-16 00:10:09 UTC (rev 443)
+++ pkg/trunk/simulators/rosstage/rosstage.cc	2008-05-16 01:10:19 UTC (rev 444)
@@ -181,6 +181,12 @@
       this->laserMsg.intensities[i] = (uint8_t)samples[i].reflectance;
     }
 
+    this->laserMsg.header.stamp_secs = 
+            (unsigned long)floor(world->SimTimeNow() / 1e6);
+    this->laserMsg.header.stamp_nsecs = 
+            (unsigned long)rint(1e3 * (world->SimTimeNow() - 
+                                       this->laserMsg.header.stamp_secs * 1e6));
+    this->laserMsg.__timestamp_override = true;
     publish("scan",this->laserMsg);
   }
 
@@ -197,6 +203,12 @@
   // TODO: get the frame ID from somewhere
   this->odomMsg.header.frame_id = 2;
 
+  this->odomMsg.header.stamp_secs = 
+          (unsigned long)floor(world->SimTimeNow() / 1e6);
+  this->odomMsg.header.stamp_nsecs = 
+          (unsigned long)rint(1e3 * (world->SimTimeNow() - 
+                                     this->odomMsg.header.stamp_secs * 1e6));
+  this->odomMsg.__timestamp_override = true;
   publish("odom",this->odomMsg);
 
   this->lock.unlock();


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.