[Personalrobots-commit] SF.net SVN: personalrobots:[19833] pkg/trunk

[<is...@us...>]

Revision: 19833
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19833&view=rev
Author:   isucan
Date:     2009-07-28 06:53:08 +0000 (Tue, 28 Jul 2009)

Log Message:
-----------
fix deprecation warnings

Modified Paths:
--------------
    pkg/trunk/highlevel/move_arm/src/move_arm_action.cpp
    pkg/trunk/motion_planning/ompl_planning/src/helpers/RequestHandler.cpp
    pkg/trunk/motion_planning/planning_environment/src/tools/display_planner_collision_model.cpp

Modified: pkg/trunk/highlevel/move_arm/src/move_arm_action.cpp
===================================================================
--- pkg/trunk/highlevel/move_arm/src/move_arm_action.cpp	2009-07-28 06:24:19 UTC (rev 19832)
+++ pkg/trunk/highlevel/move_arm/src/move_arm_action.cpp	2009-07-28 06:53:08 UTC (rev 19833)
@@ -399,7 +399,7 @@
 	visualization_msgs::Marker mk;
 	mk.header.stamp = planningMonitor_->lastMapUpdate();
 	mk.header.frame_id = planningMonitor_->getFrameId();
-	mk.ns = node_handle_.getName();
+	mk.ns = ros::this_node::getName();
 	mk.id = count++;
 	mk.type = visualization_msgs::Marker::SPHERE;
 	mk.action = visualization_msgs::Marker::ADD;
@@ -566,7 +566,7 @@
 		
 		planningMonitor_->getEnvironmentModel()->setVerbose(false);
 		ros::ServiceClient client = node_handle_.serviceClient<manipulation_srvs::IKService>(ARM_IK_NAME, true);
-		for (int t = 0 ; t < 20 ; ++t)
+		for (int t = 0 ; t < 2 ; ++t)
 		{
 		    robot_msgs::PoseStamped tpose = req.goal_constraints.pose_constraint[0].pose;
 		    if (t > 0)

Modified: pkg/trunk/motion_planning/ompl_planning/src/helpers/RequestHandler.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/helpers/RequestHandler.cpp	2009-07-28 06:24:19 UTC (rev 19832)
+++ pkg/trunk/motion_planning/ompl_planning/src/helpers/RequestHandler.cpp	2009-07-28 06:53:08 UTC (rev 19833)
@@ -476,7 +476,7 @@
     visualization_msgs::Marker mk;        
     mk.header.stamp = psetup->model->planningMonitor->lastMechanismStateUpdate();
     mk.header.frame_id = psetup->model->planningMonitor->getFrameId();
-    mk.ns = nh_.getName();
+    mk.ns = ros::this_node::getName();
     mk.id = 1;    
     mk.type = visualization_msgs::Marker::POINTS;
     mk.action = visualization_msgs::Marker::ADD;

Modified: pkg/trunk/motion_planning/planning_environment/src/tools/display_planner_collision_model.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_environment/src/tools/display_planner_collision_model.cpp	2009-07-28 06:24:19 UTC (rev 19832)
+++ pkg/trunk/motion_planning/planning_environment/src/tools/display_planner_collision_model.cpp	2009-07-28 06:53:08 UTC (rev 19833)
@@ -93,7 +93,7 @@
     void objectInMapUpdate(const mapping_msgs::ObjectInMapConstPtr &objectInMap)
     {
 	visualization_msgs::Marker mk;
-	mk.ns = nh_.getName() + "_" + objectInMap->id;
+	mk.ns = ros::this_node::getName() + "_" + objectInMap->id;
 	mk.id = 0;
 	mk.header = objectInMap->header;
 	
@@ -122,7 +122,7 @@
 	{
 	    const robot_msgs::Point32 &point = collisionMap->boxes[i].center;
 	    const robot_msgs::Point32 &extents = collisionMap->boxes[i].extents;
-	    sendPoint(i, nh_.getName(), point.x, point.y, point.z,
+	    sendPoint(i, ros::this_node::getName(), point.x, point.y, point.z,
 		      std::max(std::max(extents.x, extents.y), extents.z) * 0.867 + collisionSpaceMonitor_->getPointCloudPadd(),
 		      collisionMap->header);
 	}
@@ -136,7 +136,7 @@
 	for (unsigned int i = 0 ; i < link->attachedBodies.size() ; ++i)
         {
 	    visualization_msgs::Marker mk;
-	    mk.ns = nh_.getName() + "_attached_" + link->name;
+	    mk.ns = ros::this_node::getName() + "_attached_" + link->name;
 	    mk.id = i;
 	    mk.header = header;
 	    


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