[Personalrobots-commit] SF.net SVN: personalrobots:[13826] pkg/trunk

[<jfa...@us...>]

Revision: 13826
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=13826&view=rev
Author:   jfaustwg
Date:     2009-04-14 17:43:14 +0000 (Tue, 14 Apr 2009)

Log Message:
-----------
Compile fixes for Node fixes, since Node now no longer incorrectly casts to itself

Modified Paths:
--------------
    pkg/trunk/highlevel/highlevel_controllers/src/joy_batt_sender.cpp
    pkg/trunk/highlevel/highlevel_controllers/src/move_base.cpp
    pkg/trunk/robot_control_loops/pr2_etherCAT/src/main.cpp
    pkg/trunk/world_models/costmap_2d/src/costmap_node.cpp

Modified: pkg/trunk/highlevel/highlevel_controllers/src/joy_batt_sender.cpp
===================================================================
--- pkg/trunk/highlevel/highlevel_controllers/src/joy_batt_sender.cpp	2009-04-14 17:40:30 UTC (rev 13825)
+++ pkg/trunk/highlevel/highlevel_controllers/src/joy_batt_sender.cpp	2009-04-14 17:43:14 UTC (rev 13826)
@@ -45,8 +45,7 @@
       ros::Node::instance()->param<int>("~stop_button", stop_button_, 7);
       ros::Node::instance()->param<int>("~go_button", go_button_, 5);
       ros::Node::instance()->param<int>("~deadman_button", deadman_button_, 4);
-      robot_msgs::BatteryState bs;
-      ros::Node::instance()->advertise("bogus_battery_state", bs, &JoyBattSender::sendHeartbeat, 2);
+      ros::Node::instance()->advertise<robot_msgs::BatteryState>("bogus_battery_state", boost::bind(&JoyBattSender::sendHeartbeat, this, _1), 2);
       ros::Node::instance()->subscribe("joy", joy_msg_, &JoyBattSender::handleJoyMsg, this, 2);
     }
 
@@ -108,7 +107,7 @@
 
   node.spin();
 
-  
 
+
   return 0;
 }

Modified: pkg/trunk/highlevel/highlevel_controllers/src/move_base.cpp
===================================================================
--- pkg/trunk/highlevel/highlevel_controllers/src/move_base.cpp	2009-04-14 17:40:30 UTC (rev 13825)
+++ pkg/trunk/highlevel/highlevel_controllers/src/move_base.cpp	2009-04-14 17:43:14 UTC (rev 13826)
@@ -358,7 +358,7 @@
       // Might be worth eventually having a dedicated node provide this service and all
       // nodes including move_base access the costmap through it, but for now leaving costmap
       // in move_base for fast access
-      ros::Node::instance()->advertiseService("costmap", &MoveBase::costmapCallback);
+      ros::Node::instance()->advertiseService("costmap", &MoveBase::costmapCallback, this);
 
       // The cost map is populated with either laser scans in the case that we are unable to use a
       // world model   source, or point clouds if we are. We shall pick one, and will be dominated by

Modified: pkg/trunk/robot_control_loops/pr2_etherCAT/src/main.cpp
===================================================================
--- pkg/trunk/robot_control_loops/pr2_etherCAT/src/main.cpp	2009-04-14 17:40:30 UTC (rev 13825)
+++ pkg/trunk/robot_control_loops/pr2_etherCAT/src/main.cpp	2009-04-14 17:43:14 UTC (rev 13826)
@@ -301,23 +301,17 @@
   g_quit = 1;
 }
 
-class Shutdown {
-public:
-  bool shutdownService(std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
-  {
-    quitRequested(0);
-    return true;
-  }
-};
+bool shutdownService(std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
+{
+  quitRequested(0);
+  return true;
+}
 
-class Reset {
-public:
-  bool resetMotorsService(std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
-  {
-    g_reset_motors = true;
-    return true;
-  }
-};
+bool resetMotorsService(std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
+{
+  g_reset_motors = true;
+  return true;
+}
 
 void warnOnSecondary(int sig)
 {
@@ -369,7 +363,7 @@
       ROS_FATAL("Unable to create pid file '%s': %s", PIDFILE, strerror(errno));
       goto end;
     }
-    
+
     if ((fd = open(PIDFILE, O_RDWR)) < 0)
     {
       ROS_FATAL("Unable to open pid file '%s': %s", PIDFILE, strerror(errno));
@@ -522,8 +516,8 @@
   // Catch if we fall back to secondary mode
   signal(SIGXCPU, warnOnSecondary);
 
-  node->advertiseService("shutdown", &Shutdown::shutdownService);
-  node->advertiseService("reset_motors", &Reset::resetMotorsService);
+  node->advertiseService("shutdown", shutdownService);
+  node->advertiseService("reset_motors", resetMotorsService);
 
   //Start thread
   int rv;

Modified: pkg/trunk/world_models/costmap_2d/src/costmap_node.cpp
===================================================================
--- pkg/trunk/world_models/costmap_2d/src/costmap_node.cpp	2009-04-14 17:40:30 UTC (rev 13825)
+++ pkg/trunk/world_models/costmap_2d/src/costmap_node.cpp	2009-04-14 17:43:14 UTC (rev 13826)
@@ -309,7 +309,7 @@
     // Might be worth eventually having a dedicated node provide this service and all
     // nodes including move_base access the costmap through it, but for now leaving costmap
     // in move_base for fast access
-    ros::Node::instance()->advertiseService("costmap", &CostMapNode::costmapCallback);
+    ros::Node::instance()->advertiseService("costmap", &CostMapNode::costmapCallback, this);
 
     // The cost map is populated with either laser scans in the case that we are unable to use a
     // world model   source, or point clouds if we are. We shall pick one, and will be dominated by


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