From 7449534410d22b0c9edce3ef8472a0cc19f68c12 Mon Sep 17 00:00:00 2001 From: Holben888 Date: Sun, 25 Feb 2018 18:32:30 -0500 Subject: [PATCH] Publisher declarations moved to header file. --- rr_common/src/navigation_controller/navigation_controller.cpp | 1 + rr_rviz_plugins/include/rr_rviz_plugins/ResetPanel.h | 2 +- rr_rviz_plugins/src/ResetPanel.cpp | 3 +-- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/rr_common/src/navigation_controller/navigation_controller.cpp b/rr_common/src/navigation_controller/navigation_controller.cpp index ad8aaf3b1..84ef44ea9 100644 --- a/rr_common/src/navigation_controller/navigation_controller.cpp +++ b/rr_common/src/navigation_controller/navigation_controller.cpp @@ -119,6 +119,7 @@ int main(int argc, char** argv) { steerMsg.angle = steering; steerMsg.header.stamp = ros::Time::now(); steerPub.publish(steerMsg); + ROS_INFO("Current state: %d", state); rate.sleep(); } diff --git a/rr_rviz_plugins/include/rr_rviz_plugins/ResetPanel.h b/rr_rviz_plugins/include/rr_rviz_plugins/ResetPanel.h index 08a7381a4..9651541f2 100644 --- a/rr_rviz_plugins/include/rr_rviz_plugins/ResetPanel.h +++ b/rr_rviz_plugins/include/rr_rviz_plugins/ResetPanel.h @@ -19,7 +19,7 @@ Q_OBJECT protected: QPushButton *reset_btn; ros::NodeHandle nh; - ros::Publisher reset_pub = nh.advertise("/reset_detected", 0); + ros::Publisher reset_pub; private slots: void resetCallback(); diff --git a/rr_rviz_plugins/src/ResetPanel.cpp b/rr_rviz_plugins/src/ResetPanel.cpp index 23a4db072..ff35f9702 100644 --- a/rr_rviz_plugins/src/ResetPanel.cpp +++ b/rr_rviz_plugins/src/ResetPanel.cpp @@ -8,6 +8,7 @@ ResetPanel::ResetPanel(QWidget *parent) : rviz::Panel(parent) // Base class constructor { reset_btn = new QPushButton("Reset!"); + reset_pub = nh.advertise("/reset_detected", 0); connect(reset_btn, SIGNAL (released()), this, SLOT (resetCallback())); QVBoxLayout *layout = new QVBoxLayout; @@ -16,8 +17,6 @@ ResetPanel::ResetPanel(QWidget *parent) } void ResetPanel::resetCallback() { - ros::NodeHandle nh; - ros::Publisher reset_pub = nh.advertise("/reset_detected", 0); rr_platform::race_reset reset; reset_pub.publish(reset); }