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Linked goal_reached topic to rtabmapviz

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matlabbe
2015-10-13 13:24:37 -04:00
parent 3269ccd196
commit b121764449
2 changed files with 10 additions and 0 deletions
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src/GuiWrapper.cpp
+7
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@@ -176,6 +176,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
goalTopic_,
pathTopic_);
goalPathSync_->registerCallback(boost::bind(&GuiWrapper::goalPathCallback, this, _1, _2));
goalReachedTopic_ = nh.subscribe("goal_reached", 1, &GuiWrapper::goalReachedCallback, this);
}
GuiWrapper::~GuiWrapper()
@@ -265,6 +266,12 @@ void GuiWrapper::goalPathCallback(
this->post(new RtabmapGlobalPathEvent(goalMsg->node_id, goalMsg->node_label, poses));
}
void GuiWrapper::goalReachedCallback(
const std_msgs::BoolConstPtr & value)
{
this->post(new RtabmapGoalStatusEvent(value->data?1:-1));
}
void GuiWrapper::processRequestedMap(const rtabmap_ros::MapData & map)
{
std::map<int, Signature> signatures;