void initializeRotor( Registry & registry, const string & poseMessage )
{
registry.registerType( ROTOR_DEFINITION_STRING( carmen_point_t ) );
if ( poseMessage == "carmen_base_odometry" )
{
registry.registerMessageType(
"carmen_base_odometry",
ROTOR_DEFINITION_STRING( carmen_base_odometry_message )
);
registry.subscribeToMessage( "carmen_base_odometry", true );
} else if ( poseMessage == "locfilter_filteredpos_message" ) {
registry.registerMessageType(
"locfilter_filteredpos_message",
ROTOR_DEFINITION_STRING( locfilter_filteredpos_message )
);
registry.subscribeToMessage( "locfilter_filteredpos_message", true );
}
registry.registerMessageType(
"axt_message",
ROTOR_DEFINITION_STRING( axt_message )
);
registry.subscribeToMessage( "axt_message" );
registry.registerType( ROTOR_DEFINITION_STRING( carmen_laser_laser_config_t ) );
registry.registerMessageType(
"carmen_robot_frontlaser",
ROTOR_DEFINITION_STRING( carmen_robot_laser_message )
);
}
void
registerMessages( Registry & registry )
{
registry.registerType( ROTOR_DEFINITION_STRING( carmen_point_t ) );
registry.registerMessageType(
"planner_plan_message",
ROTOR_DEFINITION_STRING( planner_plan_message )
);
registry.subscribeToMessage( "planner_plan_message", true );
registry.registerMessageType(
"path_message",
ROTOR_DEFINITION_STRING( path_message )
);
registry.registerMessageType(
"path_stop_message",
ROTOR_DEFINITION_STRING( path_stop_message )
);
}