wii_lib::wii_lib() { /*Initilaization of publishers, subscribers and messages*/ wii_servo_pub_ = nh_.advertise<geometry_msgs::Vector3>("servo", 1); wii_communication_pub = nh_.advertise<std_msgs::Int16MultiArray>("wii_communication",1); wii_sub_ = nh_.subscribe<wiimote::State>("wiimote/state",100,&wii_lib::wiiStateCallback,this); msg_Initialization(wii_state_); controlMode.data = 0; emergencyBrake.data = 1; }
wii_lib::wii_lib() { /*Initilaization of publishers, subscribers and messages*/ wii_servo_pub_ = nh_.advertise<geometry_msgs::Vector3>("servo", 1); wii_communication_pub = nh_.advertise<std_msgs::Int16MultiArray>("wii_communication",1); wii_sub_ = nh_.subscribe<wiimote::State>("wiimote/state",100,&wii_lib::wiiStateCallback,this); interrupt = nh_.subscribe<std_msgs::Bool>("/interrupt",100, &wii_lib::stopCallback,this); //subscribe to topic interrupt which indicates if servo is occupied (AC) msg_Initialization(wii_state_); controlMode.data = 0; emergencyBrake.data = 1; stop = false; //stop flag which is set to indicate if wii communication active (AC) }