Aggiunta parametrizzazione topic mqtt e nomi dei nodi ros

2019-11-05 15:49:12 +01:00
parent 6b1012348c
commit 187c3ed9fc
7 changed files with 95 additions and 25 deletions
--- a/shared/roboglue_shared.h
+++ b/shared/roboglue_shared.h
@@ -86,10 +86,10 @@ public:
            kineDH_t DHtable;
            float maxReach = 1.2;
        } kine;
+        double deadTime = 10.0; //default value
        std::map<std::string, std::string> subMap;
        std::map<std::string, std::string> pubMap;
        std::map<std::string, std::string> nodeNames;
-        //FIXME: riempire la mappa dinamicamente da un file, eliminare l'assegnazione manuale
        enum {
            COMM, COORD, STAT
        } tList;