add remote mode initialization

KobeKosenRobotics · Aug 15, 2024 · 720ec1b · 720ec1b
1 parent 1fedeca
commit 720ec1b
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/include/config/RosParams.h b/include/config/RosParams.h
@@ -2,8 +2,8 @@
 #define ROS_PARAMS_H
 
 #define CMD_VEL_TOPIC   "/naviton/mobile_base_controller/cmd_vel"
-#define REMOTE_VEL_TOPIC   "/naviton/remote_controller/remote_vel"
-#define REMOTE_CMD_TOPIC   "/naviton/remote_controller/remote_cmd"
+#define REMOTE_VEL_TOPIC   "/mqtt/remote_controller/remote_vel"
+#define REMOTE_CMD_TOPIC   "/mqtt/remote_switch/remote_cmd"
 
 #define STATE_TOPIC     "/naviton/firmware/teensy/teensy_data"
 

diff --git a/src/NavitonROS.cpp b/src/NavitonROS.cpp
@@ -16,6 +16,8 @@ void NavitonROS::Init(ros::NodeHandle& nh)
 
     pinMode(AUTO_SWITCH_PIN, INPUT_PULLUP);
 
+    _remote_cmd.data = 0;
+
     nh.subscribe(_cmd_vel_sub);
 }
-Original file line number
+Diff line change
@@ Expand Up / @@ -16,6 +16,8 @@ void NavitonROS::Init(ros::NodeHandle& nh) @@
         pinMode(AUTO_SWITCH_PIN, INPUT_PULLUP);
+        _remote_cmd.data = 0;
         nh.subscribe(_cmd_vel_sub);
     }
@@ Expand Down @@