Fixinig led_manager - it couldn't control the simulation LEDs due to …

…changed link nomenclature
ctu-mrs · Feb 5, 2024 · 9595a6d · 9595a6d
1 parent 79e4f63
commit 9595a6d
Show file tree

Hide file tree

Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/scripts/two_drones/session.yml b/scripts/two_drones/session.yml
@@ -60,7 +60,7 @@ windows:
   - slow_down:
       layout: even-vertical
       panes:
-        - waitForGazebo; waitForRos; sleep 30; gz physics -u 80
+        - waitForGazebo; waitForRos; sleep 20; gz physics -u 80
   # - trajectories:
   #     layout: tiled
   #     panes:
@@ -74,4 +74,4 @@ windows:
   - layout:
       layout: tiled
       panes:
-        - waitForControl; sleep 3; ~/.i3/layout_manager.sh ./layout.json
+        - waitForControl; sleep 3; ~/.i3/layout_manager.sh ./layout.json
diff --git a/src/led_manager.cpp b/src/led_manager.cpp
@@ -79,11 +79,11 @@ namespace uvdar {
 
         //for simulation
         for (int i = 0; i < 8; i++) {
-          clients_set_sq_gz.push_back(nh.serviceClient<mrs_msgs::SetInt>("/gazebo/ledSignalSetter/" + _uav_name_ + "_uvled_" + std::to_string(i + 1) + "_lens_link"));
-          clients_set_fr_gz.push_back(nh.serviceClient<mrs_msgs::Float64Srv>("/gazebo/ledFrequencySetter/" + _uav_name_ + "_uvled_" + std::to_string(i + 1) + "_lens_link"));
-          clients_set_md_gz.push_back(nh.serviceClient<mrs_msgs::SetInt>("/gazebo/ledModeSetter/" + _uav_name_ + "_uvled_" + std::to_string(i + 1) + "_lens_link"));
-          clients_set_ms_gz.push_back(nh.serviceClient<uvdar_core::SetLedMessage>("/gazebo/ledMessageSender/" + _uav_name_ + "_uvled_" + std::to_string(i + 1) + "_lens_link"));
-          clients_set_ac_gz.push_back(nh.serviceClient<std_srvs::SetBool>("/gazebo/ledActiveSetter/" + _uav_name_ + "_uvled_" + std::to_string(i + 1) + "_lens_link"));
+          clients_set_sq_gz.push_back(nh.serviceClient<mrs_msgs::SetInt>("/gazebo/ledSignalSetter/" + _uav_name_ + "_" + std::to_string(i + 1)));
+          clients_set_fr_gz.push_back(nh.serviceClient<mrs_msgs::Float64Srv>("/gazebo/ledFrequencySetter/" + _uav_name_ + "_" + std::to_string(i + 1)));
+          clients_set_md_gz.push_back(nh.serviceClient<mrs_msgs::SetInt>("/gazebo/ledModeSetter/" + _uav_name_ +  "_" +std::to_string(i + 1)));
+          clients_set_ms_gz.push_back(nh.serviceClient<uvdar_core::SetLedMessage>("/gazebo/ledMessageSender/" + _uav_name_ + "_" + std::to_string(i + 1)));
+          clients_set_ac_gz.push_back(nh.serviceClient<std_srvs::SetBool>("/gazebo/ledActiveSetter/" + _uav_name_ +  "_" +std::to_string(i + 1)));
         }
 
         initialized = true;
@@ -546,4 +546,4 @@ int main(int argc, char** argv) {
   ros::spin();
 
   return 0;
-}
+}