Merge pull request #117 from YoujianWu/master

Add a variable to select dbus topic.
rm-controls · Sep 21, 2024 · 8fbed66 · 8fbed66
2 parents 0c69cc4 + 933c3d4
commit 8fbed66
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/manual_base.cpp b/src/manual_base.cpp
@@ -8,11 +8,13 @@ namespace rm_manual
 ManualBase::ManualBase(ros::NodeHandle& nh, ros::NodeHandle& nh_referee)
   : controller_manager_(nh), tf_listener_(tf_buffer_), nh_(nh)
 {
+  std::string dbus_topic_;
+  dbus_topic_ = getParam(nh, "dbus_topic", std::string("/rm_ecat_hw/dbus"));
   // sub
   joint_state_sub_ = nh.subscribe<sensor_msgs::JointState>("/joint_states", 10, &ManualBase::jointStateCallback, this);
   actuator_state_sub_ =
       nh.subscribe<rm_msgs::ActuatorState>("/actuator_states", 10, &ManualBase::actuatorStateCallback, this);
-  dbus_sub_ = nh.subscribe<rm_msgs::DbusData>("/dbus_data", 10, &ManualBase::dbusDataCallback, this);
+  dbus_sub_ = nh.subscribe<rm_msgs::DbusData>(dbus_topic_, 10, &ManualBase::dbusDataCallback, this);
   track_sub_ = nh.subscribe<rm_msgs::TrackData>("/track", 10, &ManualBase::trackCallback, this);
   gimbal_des_error_sub_ = nh.subscribe<rm_msgs::GimbalDesError>("/controllers/gimbal_controller/error", 10,
                                                                 &ManualBase::gimbalDesErrorCallback, this);