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tested work without scout_messenger

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This commit is contained in:
pinloon.lee
2021-04-01 13:41:04 +08:00
parent 08ea403658
commit d3b2f68b48
4 changed files with 12 additions and 20 deletions
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13
scout_base/src/scout_base_node.cpp
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@@ -140,20 +140,15 @@ bool CheckSystemState(scout_msgs::ScoutCheckSystemState::Request &req,
int main(int argc, char **argv) {
// setup ROS node
ros::init(argc, argv, "scout_node");
ros::NodeHandle node;
// ros::NodeHandle node;
ros::NodeHandle node(""), private_node("~");
// connect robot device
std::string device_name;
if (argc == 2) {
device_name = {argv[1]};
ROS_INFO("Specified CAN: %s", device_name.c_str());
} else {
ROS_INFO("Please specified CAN port name");
return -1;
}
private_node.param<std::string>("port_name", device_name, std::string("can0"));
robot = std::make_shared<ScoutBase>();
robot->Connect(device_name);
robot->EnableCommandedMode();
// publisher
ros::Publisher state_pub = node.advertise<scout_msgs::ScoutMotionState>(