Callback function seems to be never called

edit

Hi again,

This question follows this one.

Now my node is compiling and executing, but it seems that the callback function is never called on the subscription to lasers. /scan is remapped to /base_scan (that send data, according to rostopic echo /base_scan ). As far as I understand, every time the node gets a message, it should trigger the callback and I should get a console output, a rxconsole output and the robot should move a little. I don't get what can fail in this case.

What's wrong with the code or what should be done to be sure that the node really gets the data ?

Sources :

  BrController::BrController(ros::NodeHandle &nh) : target_frame_("/base_controller/command")
 {
/* Node handle that manage the node and provide publishing and subscribing function */
nh_ = nh;

/* Set up the publisher for the cmd_vel topic : we'll publish on this topic to drive the robot */
 cmd_vel_pub_ = nh_.advertise<geometry_msgs::Twist>("/base_controller/command", 1);

scan_filter_sub_ = nh_.subscribe("scan", 50, &BrController::msgCallback, this);
 }

void BrController::msgCallback(const sensor_msgs::LaserScan & msg)
{
    geometry_msgs::Twist base_cmd;

    std::cout << "Callback" << std::endl;
    ROS_INFO("Callback");

   base_cmd.angular.z = 50;
   cmd_vel_pub_.publish(base_cmd);

   std::cout << "published command : [" << base_cmd.linear.x << " " << base_cmd.linear.y << " " <<  base_cmd.linear.z << "][" << base_cmd.angular.x << " " << base_cmd.angular.y << " " << base_cmd.angular.z << "]"<< std::endl; 
}


bool BrController::driveBraitenberg()
{
  //we are sending commands of type "twist" to drive the robot
  geometry_msgs::Twist base_cmd;

  while(nh_.ok())
  {
     // Nothing is done as we want the robot to be driven from the laser input  
   }

  return true;
}