From 741c2a3d782ad3b863e583ca6bf909e80812810f Mon Sep 17 00:00:00 2001
From: Florian Polster <fpolster@uni-koblenz.de>
Date: Wed, 1 Mar 2017 23:59:47 +0100
Subject: [PATCH] no seperate laserCallback
---
.../homer_navigation/homer_navigation_node.h | 2 --
homer_navigation/src/homer_navigation_node.cpp | 14 ++------------
2 files changed, 2 insertions(+), 14 deletions(-)
diff --git a/homer_navigation/include/homer_navigation/homer_navigation_node.h b/homer_navigation/include/homer_navigation/homer_navigation_node.h
index fadef9bb..5765fae5 100644
--- a/homer_navigation/include/homer_navigation/homer_navigation_node.h
+++ b/homer_navigation/include/homer_navigation/homer_navigation_node.h
@@ -66,7 +66,6 @@ class HomerNavigationNode {
void ignoreLaserCallback(const std_msgs::String::ConstPtr& msg);
void poseCallback(const geometry_msgs::PoseStamped::ConstPtr& msg);
void laserDataCallback(const sensor_msgs::LaserScan::ConstPtr& msg);
- void downlaserDataCallback(const sensor_msgs::LaserScan::ConstPtr& msg);
void startNavigationCallback(
const homer_mapnav_msgs::StartNavigation::ConstPtr& msg);
void moveBaseSimpleGoalCallback(
@@ -85,7 +84,6 @@ class HomerNavigationNode {
virtual void init();
void initNewTarget();
- void processLaserScan(const sensor_msgs::LaserScan::ConstPtr& msg);
private:
/** @brief Start navigation to m_Target on last_map_data_ */
diff --git a/homer_navigation/src/homer_navigation_node.cpp b/homer_navigation/src/homer_navigation_node.cpp
index 82dc933c..d7d0aead 100644
--- a/homer_navigation/src/homer_navigation_node.cpp
+++ b/homer_navigation/src/homer_navigation_node.cpp
@@ -11,7 +11,7 @@ HomerNavigationNode::HomerNavigationNode() {
m_laser_data_sub = nh.subscribe<sensor_msgs::LaserScan>(
"/scan", 1, &HomerNavigationNode::laserDataCallback, this);
m_down_laser_data_sub = nh.subscribe<sensor_msgs::LaserScan>(
- "/front_scan", 1, &HomerNavigationNode::downlaserDataCallback, this);
+ "/front_scan", 1, &HomerNavigationNode::laserDataCallback, this);
m_start_navigation_sub = nh.subscribe<homer_mapnav_msgs::StartNavigation>(
"/homer_navigation/start_navigation", 1,
&HomerNavigationNode::startNavigationCallback, this);
@@ -1087,7 +1087,7 @@ void HomerNavigationNode::maxDepthMoveDistanceCallback(
calcMaxMoveDist();
}
-void HomerNavigationNode::processLaserScan(
+void HomerNavigationNode::laserDataCallback(
const sensor_msgs::LaserScan::ConstPtr& msg) {
m_scan_map[msg->header.frame_id] = msg;
m_last_laser_time = ros::Time::now();
@@ -1105,16 +1105,6 @@ void HomerNavigationNode::processLaserScan(
}
}
-void HomerNavigationNode::laserDataCallback(
- const sensor_msgs::LaserScan::ConstPtr& msg) {
- processLaserScan(msg);
-}
-
-void HomerNavigationNode::downlaserDataCallback(
- const sensor_msgs::LaserScan::ConstPtr& msg) {
- processLaserScan(msg);
-}
-
void HomerNavigationNode::initNewTarget() {
m_initial_path_reaches_target = false;
m_avoided_collision = false;
--
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