modelec/modelec-marcel-ROS
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pcbs interfaces

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This commit is contained in:
acki
2025-05-14 16:50:19 -04:00
parent 27fa084519
commit c7f6e68ba3
2 changed files with 6 additions and 14 deletions
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11
src/modelec_com/src/pcb_action_interface.cpp
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@@ -74,17 +74,6 @@ namespace Modelec
RCLCPP_ERROR(this->get_logger(), "Service call failed");
}
/**
* TODO : def
* action/x/y/...
*
* x -> asc | servo | relay
* y -> get | set | move
*
*
*/
asc_get_sub_ = this->create_subscription<modelec_interfaces::msg::ActionAscPos>(
"action/asc/get", 10,
[this](const modelec_interfaces::msg::ActionAscPos::SharedPtr)

9
src/modelec_com/src/pcb_odo_interface.cpp
View File

@@ -555,9 +555,12 @@ namespace Modelec
void PCBOdoInterface::SendToPCB(const std::string& data) const
{
auto message = std_msgs::msg::String();
message.data = data;
pcb_publisher_->publish(message);
if (pcb_publisher_)
{
auto message = std_msgs::msg::String();
message.data = data;
pcb_publisher_->publish(message);
}
}
void PCBOdoInterface::SendToPCB(const std::string& order, const std::string& elem,