From c9c2add7c7bbe5d1af74063d8a1f431f4e57b024 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Wed, 19 Apr 2023 11:25:25 +0200 Subject: [PATCH] change rtls device as field --- src/beacon_positioning/src/tracker_position.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/beacon_positioning/src/tracker_position.cpp b/src/beacon_positioning/src/tracker_position.cpp index ea913453..e319e0ad 100644 --- a/src/beacon_positioning/src/tracker_position.cpp +++ b/src/beacon_positioning/src/tracker_position.cpp @@ -35,6 +35,8 @@ public: serial_port->setBaudrate(115200); serial_port->setTimeout(800ms); + rtls_device = terabee::RtlsDevice(serial_port); + RCLCPP_INFO(this->get_logger(), "Opening serial port of tracker!"); serial_port->open(); @@ -115,6 +117,7 @@ private: terabee::RtlsDevice::config_t device_configuration; terabee::RtlsDevice::OnTrackerDataCallback tracker_data_callback_; terabee::RtlsDevice::tracker_msg_t tracker_msg; + terabee::RtlsDevice rtls_device; }; int main(int argc, char **argv)