From c7f6e68ba355055374ce92b48a04c9c9e15171ac Mon Sep 17 00:00:00 2001 From: acki Date: Wed, 14 May 2025 16:50:19 -0400 Subject: [PATCH] pcbs interfaces --- src/modelec_com/src/pcb_action_interface.cpp | 11 ----------- src/modelec_com/src/pcb_odo_interface.cpp | 9 ++++++--- 2 files changed, 6 insertions(+), 14 deletions(-) diff --git a/src/modelec_com/src/pcb_action_interface.cpp b/src/modelec_com/src/pcb_action_interface.cpp index 0d5815e..035cbb2 100644 --- a/src/modelec_com/src/pcb_action_interface.cpp +++ b/src/modelec_com/src/pcb_action_interface.cpp @@ -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( "action/asc/get", 10, [this](const modelec_interfaces::msg::ActionAscPos::SharedPtr) diff --git a/src/modelec_com/src/pcb_odo_interface.cpp b/src/modelec_com/src/pcb_odo_interface.cpp index 5da7aa6..ff1987f 100644 --- a/src/modelec_com/src/pcb_odo_interface.cpp +++ b/src/modelec_com/src/pcb_odo_interface.cpp @@ -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,