[pr2eus] Add key topic-name to :send-cmd-vel-raw #481
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nakane11
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Nice PR!! |
pr2eus/robot-interface.l
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| (setq vel-topic | ||
| (if topic-name | ||
| (if namespace | ||
| (if (eq (char "/" 0) (char topic-name 0)) topic-name (format nil "~A/~A" namespace topic-name)) | ||
| topic-name) | ||
| (if namespace (format nil "~A/~A" namespace cmd-vel-topic) cmd-vel-topic))) |
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It may be better to use let instead of setq to set vel-topic as a local variable.
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Thanks for the review. I have revised it.
What do you mean? Why don't you just set the correct topic name in the :init function? Or do we have multiple base_controller servers? |
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I just missed args in send-super*. I can set the topic in the :init function as you said. I would like to use :send-cmd-vel-raw with (pr2-init), but to make pr2-interface with topic name is substitutable for it. |
pr2eus/robot-interface.l
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| (if namespace | ||
| (if (eq (char "/" 0) (char topic-name 0)) topic-name (format nil "~A/~A" namespace topic-name)) | ||
| topic-name) | ||
| (if namespace (format nil "~A/~A" namespace cmd-vel-topic) cmd-vel-topic)))) |
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(:send-cmd-vel-raw
(x y d &key (topic-name cmd-vel-topic) ((:namespace ns) namespace)) ;; [m] [m] [degree]
(if ns (setq topic-name (format nil "~A/~A" ns topic-name)))
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Thank you for the helpful advice. It's simple and easy to understand.
Currently
:send-cmd-vel-rawpublishes topic set inrobot-move-base-interface :init.This PR enables specifying topic name when calling the method. It is useful when you want to use subclass such as
pr2-interface.Added key
topic-namefollows:send-cmd-vel-rawin fetch-interface.