sem/5g_drone_ROS2
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change std pointer to normal pointer

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Sem van der Hoeven
2023-04-17 13:47:10 +02:00
parent b48b1c2344
commit afdf304e0c
1 changed files with 3 additions and 3 deletions
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6
src/beacon_positioning/src/tracker_position.cpp
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@@ -42,7 +42,7 @@ public:
500ms, std::bind(&BeaconPositioningPublisher::timer_callback, this)); 500ms, std::bind(&BeaconPositioningPublisher::timer_callback, this));
} }
void setup_rtlsdevice(std::shared_ptr<terabee::RtlsDevice> rtls_device, int priority, int label, int update_time, int network_id, bool long_message) void setup_rtlsdevice(terabee::RtlsDevice *rtls_device, int priority, int label, int update_time, int network_id, bool long_message)
{ {
rtls_device->disableTrackerStream(); rtls_device->disableTrackerStream();
serial_port->flushInput(); serial_port->flushInput();
@@ -108,7 +108,7 @@ int main(int argc, char **argv)
std::shared_ptr<BeaconPositioningPublisher> node = std::make_shared<BeaconPositioningPublisher>(); std::shared_ptr<BeaconPositioningPublisher> node = std::make_shared<BeaconPositioningPublisher>();
executor.add_node(node); executor.add_node(node);
terabee::RtlsDevice rtls_device(node->get_serial_port()); terabee::RtlsDevice rtls_device(node->get_serial_port());
node->setup_rtlsdevice(std::make_shared<terabee::RtlsDevice>(rtls_device), 1, 0x1ABE, 1, 0xC0FE, true); node->setup_rtlsdevice(&rtls_device, 1, 0x1ABE, 1, 0xC0FE, true);
rtls_device.registerOnDistanceDataCaptureCallback([&node](const terabee::RtlsDevice::tracker_msg_t &tracker_msg) rtls_device.registerOnDistanceDataCaptureCallback([&node](const terabee::RtlsDevice::tracker_msg_t &tracker_msg)
{ {
@@ -123,7 +123,7 @@ int main(int argc, char **argv)
{ {
RCLCPP_ERROR(node->get_logger(), "invalid tracker position"); RCLCPP_ERROR(node->get_logger(), "invalid tracker position");
} }); } });
executor.spin(); executor.spin();
rtls_device.startReadingStream(); rtls_device.startReadingStream();
rclcpp::shutdown(); rclcpp::shutdown();