// callback function for vel data void OdomEstimationNode::velCallback(const VelConstPtr& vel) { // receive data boost::mutex::scoped_lock lock(vel_mutex_); vel_desi_(1) = vel->linear.x; vel_desi_(2) = vel->angular.z; // active //if (!vel_active_) vel_active_ = true; };
// callback function for vel data void OdomEstimationNode::velCallback() { // receive data vel_mutex_.lock(); vel_desi_(1) = vel_.vx; vel_desi_(2) = vel_.vw; vel_mutex_.unlock(); // active //if (!vel_active_) vel_active_ = true; };