migrates rflex, old message API deprecated

See http://ros.org/wiki/fuerte/Migration#error:_XXX_has_no_member_named_.27set_YYY_size.27_.28or_.27get_YYY_size.27.29
uml-robotics · Sep 11, 2012 · 888cbcd · 888cbcd
1 parent 629ff91
commit 888cbcd
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Showing 4 changed files with 11 additions and 8 deletions.
diff --git a/atrvjr_drivers/rflex/src/atrvjr_driver.cc b/atrvjr_drivers/rflex/src/atrvjr_driver.cc
@@ -27,6 +27,7 @@
 #include <rflex/atrvjr_driver.h>
 #include <rflex/atrvjr_config.h>
 #include <math.h>
+#include <cstdio>
 
 ATRVJR::ATRVJR() {
     found_distance = false;
@@ -154,7 +155,7 @@ void ATRVJR::getSonarPoints(const int ringi, sensor_msgs::PointCloud* cloud) con
     int numSonar = SONARS_PER_RING[ringi];
     float* readings = new float[numSonar];
     getSonarReadings(ringi, readings);
-    cloud->set_points_size(numSonar);
+    cloud->points.resize(numSonar);
     int c = 0;
     for (int i = 0; i < numSonar; ++i) {
         if (readings[i] < SONAR_MAX_RANGE/ (float) RANGE_CONVERSION) {
@@ -185,7 +186,7 @@ int ATRVJR::getBumps(const int index, sensor_msgs::PointCloud* cloud) const {
         }
     }
 
-    cloud->set_points_size(total);
+    cloud->points.resize(total);
     if (total==0)
         return 0;
     for (int i=0;i<BUMPERS_PER[index];i++) {

diff --git a/atrvjr_drivers/rflex/src/atrvjr_node.cc b/atrvjr_drivers/rflex/src/atrvjr_node.cc
@@ -254,8 +254,8 @@ void ATRVJRNode::publishOdometry() {
     // finally, publish the joint state
     sensor_msgs::JointState joint_state;
     joint_state.header.stamp = ros::Time::now();
-    joint_state.set_name_size(1);
-    joint_state.set_position_size(1);
+    joint_state.name.resize(1);
+    joint_state.position.resize(1);
     joint_state.name[0] = "lewis_twist";
     joint_state.position[0] = true_bearing;
 

diff --git a/atrvjr_drivers/rflex/src/b21_driver.cc b/atrvjr_drivers/rflex/src/b21_driver.cc
@@ -26,6 +26,7 @@
 #include <rflex/b21_driver.h>
 #include <rflex/b21_config.h>
 #include <math.h>
+#include <cstdio>
 
 B21::B21() {
     found_distance = false;
@@ -153,7 +154,7 @@ void B21::getSonarPoints(const int ringi, sensor_msgs::PointCloud* cloud) const
     int numSonar = SONARS_PER_RING[ringi];
     float* readings = new float[numSonar];
     getSonarReadings(ringi, readings);
-    cloud->set_points_size(numSonar);
+    cloud->points.resize(numSonar);
     int c = 0;
     for (int i = 0; i < numSonar; ++i) {
         if (readings[i] < SONAR_MAX_RANGE/ (float) RANGE_CONVERSION) {
@@ -184,7 +185,7 @@ int B21::getBumps(const int index, sensor_msgs::PointCloud* cloud) const {
         }
     }
 
-    cloud->set_points_size(total);
+    cloud->points.resize(total);
     if (total==0)
         return 0;
     for (int i=0;i<BUMPERS_PER[index];i++) {

diff --git a/atrvjr_drivers/rflex/src/b21_node.cc b/atrvjr_drivers/rflex/src/b21_node.cc
@@ -264,8 +264,9 @@ void B21Node::publishOdometry() {
     // finally, publish the joint state
     sensor_msgs::JointState joint_state;
     joint_state.header.stamp = ros::Time::now();
-    joint_state.set_name_size(1);
-    joint_state.set_position_size(1);
+
+    joint_state.name.resize(1);
+    joint_state.position.resize(1);
     joint_state.name[0] = "lewis_twist";
     joint_state.position[0] = true_bearing;