Handle move_base_app __master and __ip arguments with preprocessor de…

…finitions this allows the ROS_MASTER_URI to be inferred from the compiling computer's env. this commit also bumps a TODO to stop hardcoding up to actual runtime configurability. Signed-off-by: Eric McCann <[email protected]>
ekumenlabs · Sep 30, 2015 · 7a0f624 · 7a0f624
1 parent 509098e
commit 7a0f624
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Showing 2 changed files with 18 additions and 3 deletions.
diff --git a/files/move_base_app/jni/Android.mk.in b/files/move_base_app/jni/Android.mk.in
@@ -8,6 +8,15 @@ LOCAL_C_INCLUDES := $(LOCAL_PATH)/include
 LOCAL_LDLIBS := -landroid
 LOCAL_STATIC_LIBRARIES := android_native_app_glue roscpp_android_ndk
 
+### Please customize these values appropriately for your ROS ecosystem
+
+ROS_MASTER_URI ?= http://192.168.1.100:11311 # defaults to environment variable if defined
+ROS_ANDROID_IP := 192.168.1.101 # MUST be device IP
+
+### End customization region
+
+LOCAL_CFLAGS := -DROS_MASTER_URI="__master:=$(ROS_MASTER_URI)" -DROS_ANDROID_IP="__ip:=$(ROS_ANDROID_IP)"
+
 include $(BUILD_SHARED_LIBRARY)
 
 $(call import-module,android/native_app_glue)

diff --git a/files/move_base_app/jni/src/test_move_base.cpp b/files/move_base_app/jni/src/test_move_base.cpp
@@ -16,9 +16,15 @@ void android_main(android_app *papp) {
     app_dummy();
 
     int argc = 4;
-    // TODO: don't hardcode ip addresses
-    char *argv[] = {"nothing_important" , "__master:=http://192.168.1.100:11311",
-                    "__ip:=192.168.1.101", "cmd_vel:=navigation_velocity_smoother/raw_cmd_vel"};
+
+    // TODO: handle the master uri and device IP at runtime
+#ifndef ROS_MASTER_URI
+#error ROS_MASTER_URI MUST be set in files/move_base_app/jni/Android.mk.in
+#endif
+#ifndef ROS_ANDROID_IP
+#error ROS_ANDROID_IP MUST be set in files/move_base_app/jni/Android.mk.in
+#endif
+    char *argv[] = {"nothing_important" , ROS_MASTER_URI, ROS_ANDROID_IP, "cmd_vel:=navigation_velocity_smoother/raw_cmd_vel"};
 
     for(int i = 0; i < argc; i++){
         log(argv[i]);