add points «number» field to Plan msg
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2 changed files with 5 additions and 2 deletions
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@ -2,3 +2,4 @@ Header header
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geometry_msgs/Point normal
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float64 altitude
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float64 curvature
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int64 number
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@ -29,7 +29,7 @@ class Callback {
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// publication
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ROS_INFO("Plan published");
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publisher.publish(to_Plan(x, y, z, h, c, msg->header.seq, msg->header.stamp));
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publisher.publish(to_Plan(x, y, z, h, c, msg->header.seq, msg->header.stamp, msg->width));
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}
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Callback(ros::Publisher& pub) :
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@ -43,7 +43,8 @@ class Callback {
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const hand_control::Plan::ConstPtr
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to_Plan(const float& x, const float& y,
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const float& z, const float& h,
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const float& c, uint32_t seq, uint64_t msec64)
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const float& c, uint32_t seq,
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uint64_t msec64, uint64_t number)
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{
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hand_control::Plan::Ptr ros_msg(new hand_control::Plan());
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ros_msg->normal.x = x;
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@ -51,6 +52,7 @@ class Callback {
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ros_msg->normal.z = z;
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ros_msg->altitude = h;
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ros_msg->curvature = c;
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ros_msg->number = number;
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// uint64_t msec64 is in ms (10-6)
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uint64_t sec64 = msec64 / 1000000;
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uint64_t nsec64 = (msec64 % 1000000) * 1000;
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