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Support auto reset setting #27

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merged 3 commits into from Feb 24, 2018
Merged

Support auto reset setting #27

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b054f91
Support auto reset setting
at-wat Feb 24, 2018
127173c
Merge branch 'indigo-devel' into support-auto-reset
at-wat Feb 24, 2018
a7ced6f
Don't send auto reset command if not given
at-wat Feb 24, 2018
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7 changes: 7 additions & 0 deletions include/vssp.h
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Expand Up @@ -129,6 +129,13 @@ class VsspDriver
{
cb_ping_ = cb;
}
void setAutoReset(const bool enable)
{
if (enable)
send(std::string("SET:_ars=1\n"));
else
send(std::string("SET:_ars=0\n"));
}
[[deprecated("use setHorizontalInterlace() instead of setInterlace()")]]
void setInterlace(const int itl)
{
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6 changes: 6 additions & 0 deletions src/hokuyo3d.cpp
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Expand Up @@ -200,6 +200,8 @@ class Hokuyo3dNode
{
ROS_INFO("Connection established");
ping();
if (set_auto_reset_)
driver_.setAutoReset(auto_reset_);
driver_.setHorizontalInterlace(horizontal_interlace_);
driver_.requestHorizontalTable();
driver_.setVerticalInterlace(vertical_interlace_);
Expand Down Expand Up @@ -235,6 +237,8 @@ class Hokuyo3dNode
pnh_.param("imu_frame_id", imu_frame_id_, frame_id_ + "_imu");
pnh_.param("mag_frame_id", mag_frame_id_, frame_id_ + "_mag");
pnh_.param("range_min", range_min_, 0.0);
set_auto_reset_ = pnh_.hasParam("auto_reset");
pnh_.param("auto_reset", auto_reset_, false);

std::string output_cycle;
pnh_.param("output_cycle", output_cycle, std::string("field"));
Expand Down Expand Up @@ -402,6 +406,8 @@ class Hokuyo3dNode
std::string frame_id_;
std::string imu_frame_id_;
std::string mag_frame_id_;
bool auto_reset_;
bool set_auto_reset_;
};

int main(int argc, char **argv)
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