| 71 | |
| 72 | } |
| 73 | void RefereeSystem::ROS_Init() { |
| 74 | //ros publisher |
| 75 | ros_game_status_pub_ = ros_nh_.advertise<roborts_msgs::GameStatus>("game_status", 30); |
| 76 | ros_game_result_pub_ = ros_nh_.advertise<roborts_msgs::GameResult>("game_result", 30); |
| 77 | ros_game_survival_pub_ = ros_nh_.advertise<roborts_msgs::GameSurvivor>("game_survivor", 30); |
| 78 | |
| 79 | ros_bonus_status_pub_ = ros_nh_.advertise<roborts_msgs::BonusStatus>("field_bonus_status", 30); |
| 80 | ros_supplier_status_pub_ = ros_nh_.advertise<roborts_msgs::SupplierStatus>("field_supplier_status", 30); |
| 81 | |
| 82 | ros_robot_status_pub_ = ros_nh_.advertise<roborts_msgs::RobotStatus>("robot_status", 30); |
| 83 | ros_robot_heat_pub_ = ros_nh_.advertise<roborts_msgs::RobotHeat>("robot_heat", 30); |
| 84 | ros_robot_bonus_pub_ = ros_nh_.advertise<roborts_msgs::RobotBonus>("robot_bonus", 30); |
| 85 | ros_robot_damage_pub_ = ros_nh_.advertise<roborts_msgs::RobotDamage>("robot_damage", 30); |
| 86 | ros_robot_shoot_pub_ = ros_nh_.advertise<roborts_msgs::RobotShoot>("robot_shoot", 30); |
| 87 | |
| 88 | //ros subscriber |
| 89 | ros_sub_projectile_supply_ = ros_nh_.subscribe("projectile_supply", 1, &RefereeSystem::ProjectileSupplyCallback, this); |
| 90 | |
| 91 | } |
| 92 | |
| 93 | void RefereeSystem::GameStateCallback(const std::shared_ptr<roborts_sdk::cmd_game_state> raw_game_status){ |
| 94 | roborts_msgs::GameStatus game_status; |
nothing calls this directly
no outgoing calls
no test coverage detected