(roseus_bt) Initialize subscriber ports

jsk-ros-pkg · Oct 26, 2022 · 2191a65 · 2191a65
1 parent 327c0b6
commit 2191a65
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/roseus_bt/include/roseus_bt/eus_remote_subscriber_node.h b/roseus_bt/include/roseus_bt/eus_remote_subscriber_node.h
@@ -20,6 +20,9 @@ class EusRemoteSubscriberNode: public BT::ActionNodeBase
                        getInput<std::string>("topic_name").value(),
                        getInput<std::string>("message_type").value())
   {
+    setOutput<uint8_t>("received_port", false);
+    setOutput<rapidjson::CopyDocument>("output_port",
+                                       rapidjson::CopyDocument(rapidjson::kObjectType));
     auto cb = std::bind(&EusRemoteSubscriberNode::topicCallback, this,
                         std::placeholders::_1,
                         std::placeholders::_2);
@@ -59,7 +62,7 @@ class EusRemoteSubscriberNode: public BT::ActionNodeBase
 protected:
   virtual void callback(const rapidjson::Value& msg) {
     setOutputFromMessage("output_port", msg);
-    setOutput("received_port", (uint8_t)true);
+    setOutput<uint8_t>("received_port", true);
   }
 
   void topicCallback(std::shared_ptr<WsClient::Connection> connection, std::shared_ptr<WsClient::InMessage> in_message)

diff --git a/roseus_bt/include/roseus_bt/eus_subscriber_node.h b/roseus_bt/include/roseus_bt/eus_subscriber_node.h
@@ -12,6 +12,8 @@ class EusSubscriberNode: public BT::ActionNodeBase
   EusSubscriberNode(ros::NodeHandle& nh, const std::string& name, const BT::NodeConfiguration& conf):
     BT::ActionNodeBase(name, conf), node_(nh)
   {
+    setOutput<uint8_t>("received_port", false);
+    setOutput<MessageT>("output_port", MessageT());
     const std::string topic_name = getInput<std::string>("topic_name").value();
     sub_ = node_.subscribe(topic_name, 1000, &EusSubscriberNode::callback, this);
   }
@@ -48,7 +50,7 @@ class EusSubscriberNode: public BT::ActionNodeBase
 protected:
   virtual void callback(MessageT msg) {
     setOutput("output_port", msg);
-    setOutput("received_port", (uint8_t)true);
+    setOutput<uint8_t>("received_port", true);
   }
 
 };