How to get the info from a goal with more than one type in a goalCB?

asked 2013-03-12 03:46:38 -0600

DIDI
32 ●5 ●7 ●11

updated 2014-01-28 17:15:38 -0600

ngrennan
1 ●1 ●1

Hey, I encountered the following problem: My goal definition in my action file has two types and I only know how to get one of this values from the acceptNewGoal().

My goal definition is:

#goal definition

float32 linear

float32 angular

---

and my goalCB:

void goalCB()

{

goal_.linear = as_.acceptNewGoal()->linear;

steer_.linear = goal_.linear*15/2;  
steer_.angular = goal_.angular*45/2; 
steer_pub_.publish(steer_);

}

As you can see I can only manage to get one value, not both. Anyone an idea how to do it? Or is it even possible? Thanks in advance!

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2

answered 2013-03-12 04:37:42 -0600

thebyohazard
3542 ●52 ●68 ●83

updated 2013-03-12 05:02:33 -0600

You need to save the entire goal to a variable, rather than just the linear portion of the goal.

EDIT: acceptNewGoal() returns a boost ConstPtr, so you'll need to change the type of goal_. For example if your declaration was car_joy::Velocity goal_;, you'd need to change it to car_joy::Velocity::ConstPtr goal_ and then use -> operators instead of . operators.

Try this:

void goalCB()
{
    //where goal_ is some kind of ConstPtr
    goal_ = as_.acceptNewGoal();
    steer_.linear = goal_->linear*15/2;  
    steer_.angular = goal_->angular*45/2; 
    steer_pub_.publish(steer_);
}

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I tried it before, it gives me an error. Like: no correspondence for »operator=«. And I tried with goal_ as car_joy::SteerCarGoal goal_; and car_joy::Velocity goal_; (Velocity is a custom msg with linear and angular float types.

DIDI ( 2013-03-12 04:50:33 -0600 )edit

Thanks for this answer! Been trying to figure this on and off for a week.