From 4e6837cbacdd03277ca4d09a69db320f3cf5ff11 Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit.edu>
Date: Mon, 25 Jul 2022 19:59:11 +0200
Subject: [PATCH] fix: platform observer didn't receive platform velocity
---
source/RobotAPI/components/units/PlatformUnit.cpp | 4 +++-
.../components/units/RobotUnit/Units/PlatformSubUnit.cpp | 2 +-
2 files changed, 4 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/units/PlatformUnit.cpp b/source/RobotAPI/components/units/PlatformUnit.cpp
index 4cbf370ff..83da0bb84 100644
--- a/source/RobotAPI/components/units/PlatformUnit.cpp
+++ b/source/RobotAPI/components/units/PlatformUnit.cpp
@@ -38,7 +38,7 @@ namespace armarx
def->topic(odometryPrx);
def->topic(globalPosePrx);
- def->topic(listenerPrx, listenerChannelName, "");
+ // def->topic(listenerPrx, listenerChannelName, "");
def->component(robotStateComponent);
@@ -59,6 +59,8 @@ namespace armarx
void PlatformUnit::onConnectComponent()
{
+ listenerPrx = getTopic<PlatformUnitListenerPrx>(listenerChannelName);
+
this->onStartPlatformUnit();
}
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp
index 83635aac6..5ae63c2ac 100755
--- a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.cpp
@@ -134,7 +134,7 @@ namespace armarx
// legacy interface
const auto& vel = odomVelocity.twist;
- // listenerPrx->reportPlatformVelocity(vel.linear.x(), vel.linear.y(), vel.angular.z());
+ listenerPrx->reportPlatformVelocity(vel.linear.x(), vel.linear.y(), vel.angular.z());
}
}
--
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