Fawkes-robotino の設定変更

研究室のアカウントを持っている人は,RCLL2018への変更点を参照して下さい.
Index: /fawkes-robotino/cfg/conf.d/amcl.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -8,6 +8,8 @@
   # If path starts with slash (/) it's considered to be absolute,
   # otherwise relative to the config directory
-  map_file: maps/halle.png
+  #map_file: maps/halle.png
   # Resolution of the map; meters per pixel
+  # -------- RCLL 2017 --------
+  map_file: maps/rcll-2017-map.png
   resolution: 0.05
 
@@ -17,7 +19,11 @@
   # There is a wall of one grid cell thickness around the map, therefore
   # set the origin to (-0.05, -0.05)
-  origin_x: 0.0
-  origin_y: 0.0
-  origin_theta: 0.0
+  # origin_x: 0.0
+  # origin_y: 0.0
+  # origin_theta: 0.0
+  origin_x: -9.5  #// setting of version RCLL 2017
+  origin_y: -2.0  #// setting of version RCLL 2017
+  origin_theta: 0 
+
 
   # Pixels with occupancy probability greater than this threshold are
@@ -29,10 +35,11 @@
   # considered completely free
   free_threshold: 0.2
-  
+
   # Laser Minimum Range, beams shorter than this are ignored
   laser_min_range: 0.05
 
   # Laser Maximum Range, beams longer than this are ignored
-  laser_max_range: 15.0
+  # laser_max_range: 15.0
+  laser_max_range: 5.0
 
   # Maximum number of beams to consider
@@ -111,6 +118,10 @@
 
   # Initial pose (x, y, yaw)
+  #init_pose_x: 4.5
+  #init_pose_y: -0.5
+  # init_pose_a: 1.57
+  # ----- Initial pose RCLL 2017 -----
   init_pose_x: 4.5
-  init_pose_y: -0.5
+  init_pose_y: 0.5
   init_pose_a: 1.57
 
@@ -147,6 +158,9 @@
     # If path starts with slash (/) it's considered to be absolute,
     # otherwise relative to the config directory
-    map_file: maps/halle-wall.png
+    # map_file: maps/halle-wall.png
     # Resolution of the map; meters per pixel
+    # resolution: 0.05
+    # -------- RCLL 2017 --------
+    map_file: maps/rcll-2017-wall.png
     resolution: 0.05
 
@@ -156,7 +170,10 @@
     # There is a wall of one grid cell thickness around the map, therefore
     # set the origin to (-0.05, -0.05)
-    origin_x: 0.0
-    origin_y: 0.0
-    origin_theta: 0.0
+    # origin_x: 0.0
+    # origin_y: 0.0
+    # rigin_theta: 0.0
+    origin_x: -9.5  #// setting of version RCLL 2017
+    origin_y: -2.0  #// setting of version RCLL 2017
+    origin_theta: 0
 
     # Pixels with occupancy probability greater than this threshold are
Index: fawkes-robotino/cfg/conf.d/clips-agent.yaml
===================================================================
--- リビジョン 2260
+++ リビジョン 2266
@@ -43,5 +43,6 @@
   # Note that this release does not include the production phase code for 2016
   # for the rcll2016 domain model and agent specification
-  agent: rcll2016/rcll2016
+  # agent: rcll2016/rcll2016
+  agent: rcll2018/btr2018
   # To use the 2015 agent, which does include the old production phase code,
   # uncomment the following line. The config values are in clips-agent-2015.yaml.
@@ -49,5 +50,5 @@
 
  
-  rcll2016:
+  rcll2018:
     #agent-role defined in host.yaml (this is only the default!)
     agent-role: nothing
@@ -130,7 +131,11 @@
       row: MID
       
-      row-high: ["Z16", "Z3", "Z2", "Z1", "Z13", "Z14", "Z15", "Z4"]
-      row-mid: ["Z9", "Z10", "Z11", "Z12", "Z8", "Z7", "Z6", "Z5"]
-      row-low: ["Z17", "Z18", "Z19", "Z20", "Z24", "Z23", "Z22", "Z21"]
+      # row-high: ["Z16", "Z3", "Z2", "Z1", "Z13", "Z14", "Z15", "Z4"]
+      # row-mid: ["Z9", "Z10", "Z11", "Z12", "Z8", "Z7", "Z6", "Z5"]
+      # row-low: ["Z17", "Z18", "Z19", "Z20", "Z24", "Z23", "Z22", "Z21"]
+      row-high: ["C_Z52" ,"C_Z62" ,"C_Z72", "C_Z73", "C_Z74", "C_Z75", "C_Z76", "C_Z77", "C_Z78", "C_Z68", "C_Z67", "C_Z66", "C_Z65", "C_Z64", "C_Z63", "C_Z53", "C_Z54", "C_Z55", "C_Z56", "C_Z57", "C_Z58", "C_Z48", "C_Z47", "C_Z46", "C_Z45", "C_Z44", "C_Z43", "C_Z42", "C_Z32", "C_Z33", "C_Z34", "C_Z35", "C_Z36", "C_Z37", "C_Z38", "C_Z28", "C_Z27", "C_Z26", "C_Z25", "C_Z24", "C_Z23", "C_Z22", "C_Z12", "C_Z13", "C_Z14", "C_Z15", "C_Z16", "C_Z17", "C_Z18", "C_Z77"]
+      row-mid:  ["C_Z52" ,"C_Z62" ,"C_Z72", "C_Z73", "C_Z74", "C_Z75", "C_Z76", "C_Z77", "C_Z78", "C_Z68", "C_Z67", "C_Z66", "C_Z65", "C_Z64", "C_Z63", "C_Z53", "C_Z54", "C_Z55", "C_Z56", "C_Z57", "C_Z58", "C_Z48", "C_Z47", "C_Z46", "C_Z45", "C_Z44", "C_Z43", "C_Z42", "C_Z32", "C_Z33", "C_Z34", "C_Z35", "C_Z36", "C_Z37", "C_Z38", "C_Z28", "C_Z27", "C_Z26", "C_Z25", "C_Z24", "C_Z23", "C_Z22", "C_Z12", "C_Z13", "C_Z14", "C_Z15", "C_Z16", "C_Z17", "C_Z18","C_Z77"]
+      row-low:  ["C_Z52" ,"C_Z62" ,"C_Z72", "C_Z73", "C_Z74", "C_Z75", "C_Z76", "C_Z77", "C_Z78", "C_Z68", "C_Z67", "C_Z66", "C_Z65", "C_Z64", "C_Z63", "C_Z53", "C_Z54", "C_Z55", "C_Z56", "C_Z57", "C_Z58", "C_Z48", "C_Z47", "C_Z46", "C_Z45", "C_Z44", "C_Z43", "C_Z42", "C_Z32", "C_Z33", "C_Z34", "C_Z35", "C_Z36", "C_Z37", "C_Z38", "C_Z28", "C_Z27", "C_Z26", "C_Z25", "C_Z24", "C_Z23", "C_Z22", "C_Z12", "C_Z13", "C_Z14", "C_Z15", "C_Z16", "C_Z17", "C_Z18","C_Z77"]
+
 
       #the time in seconds to report all machines even if we are not prepared for production
Index: fawkes-robotino/cfg/conf.d/dynamixel.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -59,5 +59,5 @@
     # Either set the desired servo IDs that should be found in the servo chain
     # or leave this field empty (servos: []) to discover all available servos
-    servos: [1, 2]
+    servos: []
 
     # Autorecover of servos which disable their torque (by setting torque limit to 0)
@@ -66,4 +66,11 @@
     # autorecover_flags is used to specify to recover only on certian errors. This can for example be 0x20 (32)
     # to recover on overload shutdown. To recover on all errors set autorecover_flags to 127 (7 bits per error)
-    autorecover_enabled: false
+    autorecover_enabled: true
     autorecover_flags: 127
+
+    # set return_level
+    # 0: SRL_RESPONDE_NONE
+    # 1: SRL_RESPOND_READ
+    # 2: SRL_RESPOND_ALL
+    return_level: 1
+
Index: fawkes-robotino/cfg/conf.d/gazsim.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -135,6 +135,6 @@
 
   llsf-control:
-    team-cyan-name: "Carologistics"
-    team-magenta-name: "Carologistics-2"
+    team-cyan-name: "BabyTigers"
+    team-magenta-name: "Carologistics"
     start-game-automatically: true
     time-to-wait-before-set-team: 5.0
Index: fawkes-robotino/cfg/conf.d/laser-filter.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -9,6 +9,6 @@
 
     # URG input interface
-    #in/urg: Laser360Interface::Laser urg
-    in/sick-tim55x: Laser360Interface::Laser tim55x 360
+    in/urg: Laser360Interface::Laser urg
+    #in/sick-tim55x: Laser360Interface::Laser tim55x 360
 
     # URG filtered output interface
@@ -32,9 +32,9 @@
 
   robot-1080:
-    active: true
+    active: false
 
     # URG input interface
     #in/urg: Laser360Interface::Laser urg
-    in/sick-tim55x: Laser1080Interface::Laser tim55x
+    # in/sick-tim55x: Laser1080Interface::Laser tim55x
 
     # URG filtered output interface
@@ -87,9 +87,9 @@
 
   sick-downsample:
-    active: true
+    active: false
 
     # URG input interface
-    #in/urg: Laser360Interface::Laser urg
-    in/sick-tim55x: Laser1080Interface::Laser tim55x
+    in/urg: Laser360Interface::Laser urg
+    #in/sick-tim55x: Laser1080Interface::Laser tim55x
 
     # URG filtered output interface
Index: fawkes-robotino/cfg/conf.d/laser.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -9,5 +9,5 @@
   urg:
     # Enable this configuration?
-    active: false
+    active: true
 
     # Configuration is for Hokuyo URG laser range finder using URG library
@@ -21,5 +21,5 @@
   tim55x:
     # Enable this configuration?
-    active: true
+    active: false
 
     # Configuration is for Sick TiM55x over USB
Index: fawkes-robotino/cfg/conf.d/navgraph-clusters.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -12,5 +12,5 @@
   # If a cluster centroid is as close or closer than this threshold
   # to an edge that very edge will be marked as blocke.
-  close-threshold: 0.5
+  close-threshold: 0.9
 
   # Minimum visibility history value a cluster must have before it is
Index: fawkes-robotino/cfg/conf.d/navgraph-generator.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -67,3 +67,3 @@
   # provide an exploration graph for when there are no recognized
   # machines, yet.
-  base-graph: navgraph-basis.yaml
+  base-graph: navgraph-basis-2018.yaml
Index: fawkes-robotino/cfg/conf.d/navgraph.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -16,5 +16,5 @@
 
   # Graph file to use for path planning
-  graph_file: navgraph-basis.yaml
+  graph_file: navgraph-basis-2018.yaml
  
   # Interval in which the resend the goto command; sec
Index: fawkes-robotino/cfg/maps/llsf-map.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -2,5 +3,7 @@
-image: llsf-map-2015.png
+#image: llsf-map-2015.png
+image: rcll2018-map.png 
 resolution: 0.05
-origin: [-7.0, -1.0, 0.0]
+# origin: [-7.0, -1.0, 0.0]
+origin: [0, 1.0, 0]
 occupied_thresh: 0.65
 free_thresh: 0.196
Index: fawkes-robotino/cfg/navgraph-basis.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -54,10 +54,10 @@
   - !unconnected
     name: C-ins-out
-    pos: [3.3, -0.55]
+    pos: [4.3, 0.55]
     properties:
       - always-copy: true
   - !unconnected
     name: C-ins-in
-    pos: [3.3, 0.75]
+    pos: [4.3, 0.75]
     properties:
       - always-copy: true
@@ -65,10 +65,10 @@
   - !unconnected
     name: M-ins-out
-    pos: [-3.3, -0.55]
+    pos: [-4.3, 0.55]
     properties:
       - always-copy: true
   - !unconnected
     name: M-ins-in
-    pos: [-3.3, 0.75]
+    pos: [-4.3, 0.75]
     properties:
       - always-copy: true
Index: fawkes-robotino/etc/scripts/gazsim.bash
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -36,4 +36,14 @@
    -v                Run Fawkes in valgrind
    -t                Skip Exploration and add all navgraph points
+   --team-cyan       Set cyan team name
+   --team-magenta                Set magenta team name
+   --start-game      Automatically run game after initialization
+                     (if used with -t go into PRODUCTION phase,
+                      otherwise the phase will be EXPLORATION,
+                      optionally, "--start-game=PHASE" may be given
+                      to set the phase explicitly)
+                     Typically requires at least --team-cyan.
+   --rviz            Start Rviz
+   --mps             Load the plugin of gazsim-navgraph-generator
 EOF
 }
@@ -64,6 +74,11 @@
 SKIP_EXPLORATION=
 FAWKES_USED=false
-
-OPTS=$(getopt -o "hx:c:lrksn:e:dm:aof:p:gvt" -l "ros,ros-launch-main:,ros-launch:" -- "$@")
+START_GAME=
+TEAM_CYAN=
+TEAM_MAGENTA=
+RVIZ=false
+MPS=false
+
+OPTS=$(getopt -o "hx:c:lrksn:e:dm:aof:p:gvt" -l "ros,ros-launch-main:,ros-launch:,start-game::,team-cyan:,team-magenta:,rviz,mps" -- "$@")
 if [ $? != 0 ]
 then
@@ -155,4 +170,21 @@
              ROS_LAUNCH_ROBOT="--ros-launch $OPTARG"
              ;;
+         --team-cyan)
+             TEAM_CYAN="$OPTARG"
+             ;;
+         --team-magenta)
+             TEAM_MAGENTA="$OPTARG"
+             ;;
+         --start-game)
+                         if [ -n "$OPTARG" ]; then
+                                         START_GAME="$OPTARG"
+                         else
+                                         if [ -n "$SKIP_EXPLORATION" ]; then
+                                                         START_GAME="PRODUCTION"
+                                         else
+                                                         START_GAME="EXPLORATION"
+                                         fi
+                         fi
+             ;;
          -f)
              FIRST_ROBOTINO_NUMBER=$OPTARG
@@ -163,4 +195,10 @@
          -p)
              FAWKES_BIN=$OPTARG/bin
+             ;;
+         --rviz)
+             RVIZ=true
+             ;;
+         --mps)
+             MPS=true
              ;;
          --) break;
@@ -201,4 +239,5 @@
     killall llsf-refbox
     killall llsf-refbox-shell
+    killall rviz
     exit 0
 fi
@@ -218,5 +257,5 @@
 
     # delete old shm files. Only do this for the simulation, not on live bot.
-    rm /dev/shm/*fawkes*
+    rm /dev/shm/*fawkes* 2>&1 >/dev/null
 
     #construct command to open everything in one terminal window with multiple tabs instead of 10.000 windows
@@ -274,4 +313,15 @@
     fi
 
+    if $RVIZ
+    then
+#        OPEN_COMMAND="$OPEN_COMMAND --tab -e 'bash -c \"$startup_script_location -x rviz $KEEP\"'"
+        OPEN_COMMAND="$OPEN_COMMAND --tab -e 'bash -c \"export TAB_START_TIME=$(date +%s); $script_path/wait-at-first-start.bash 7; $startup_script_location -x rviz $KEEP\"'"
+    fi 
+
+    if $MPS
+    then
+        OPEN_COMMAND="$OPEN_COMMAND --tab -e 'bash -c \"echo please enter to load the gazsim-navgraph-generator plugin; read a; wget http://localhost:8081/plugins/load/gazsim-navgraph-generator -q; rm gazsim-navgraph-generator*\"'"
+    fi
+
     # open windows
     #echo $OPEN_COMMAND
@@ -289,4 +339,12 @@
     fi
 
+                if [ -n "$START_GAME" ]; then
+                                if [ ! -x $LLSF_REFBOX_DIR/bin/rcll-refbox-instruct ]; then
+                                                echo "rcll-refbox-instruct not found, not built or old version?"
+                                else
+                                                echo "Starting game (Phase: $START_GAME ${TEAM_CYAN:+Cyan: ${TEAM_CYAN}}${TEAM_MAGENTA:+ Magenta: ${TEAM_MAGENTA}})"
+                                                $LLSF_REFBOX_DIR/bin/rcll-refbox-instruct -p $START_GAME -s RUNNING ${TEAM_CYAN:+-c ${TEAM_CYAN}}${TEAM_MAGENTA:+-m ${TEAM_MAGENTA}}
+                                fi
+                fi
 
     else
Index: fawkes-robotino/fawkes/cfg/conf.d/dynamixel.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -10,5 +10,5 @@
   example:
     active: true
-    device: /dev/ttyUSB0
+    device: /dev/usb2ax
 
     read_timeout_ms: 30
@@ -69,2 +69,7 @@
     autorecover_flags: 127
 
+    # set return_level
+    # 0: SRL_RESPONDE_NONE
+    # 1: SRL_RESPOND_READ
+    # 2: SRL_RESPOND_ALL
+    return_level: 1
Index: fawkes-robotino/fawkes/src/libs/protobuf_clips/communicator.cpp
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -329,6 +329,6 @@
   } catch (std::runtime_error &e) {
     if (logger_) {
-      logger_->log_warn("CLIPS-Protobuf", "Cannot create message of type %s: %s",
-                        full_name.c_str(), e.what());
+ //     logger_->log_warn("CLIPS-Protobuf", "Cannot create message of type %s: %s",
+ //                     full_name.c_str(), e.what());
     }
     return CLIPS::Value(new std::shared_ptr<google::protobuf::Message>());
Index: fawkes-robotino/fawkes/src/plugins/clips-ros/Makefile
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -38,4 +38,8 @@
   LDFLAGS += $(LDFLAGS_ROS) $(LDFLAGS_CLIPS) $(call ros-pkg-lflags,xmlrpcpp) \
              $(call boost-libs-ldflags,$(REQ_BOOST_LIBS))
+
+  ifeq ($(call ros-pkg-version-atleast,xmlrpcpp,1.12.7),1)
+    CFLAGS += -DHAVE_NEW_ROS_XMLRPCPP_PATH
+  endif
 
   PLUGINS_all = $(PLUGINDIR)/clips-ros.$(SOEXT)
Index: fawkes-robotino/fawkes/src/plugins/clips-ros/clips_ros_thread.cpp
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -27,5 +27,9 @@
 #include <ros/network.h>
 #include <ros/xmlrpc_manager.h>
-#include <XmlRpc.h>
+#ifdef HAVE_NEW_ROS_XMLRPCPP_PATH
+#  include <xmlrpcpp/XmlRpc.h>
+#else
+#  include <XmlRpc.h>
+#endif
 
 #include <tuple>
Index: fawkes-robotino/fawkes/src/plugins/dynamixel/driver_thread.cpp
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -86,4 +86,5 @@
   cfg_max_voltage_                      = config->get_float((cfg_prefix_ + "max_voltage").c_str());
   cfg_servos_to_discover_               = config->get_uints((cfg_prefix_ + "servos").c_str());
+  cfg_return_level_                     = config->get_uint((cfg_prefix_ + "return_level").c_str());
 
   chain_ = new DynamixelChain(cfg_device_.c_str(), cfg_read_timeout_ms_, cfg_enable_echo_fix_, cfg_enable_connection_stability_, cfg_min_voltage_, cfg_max_voltage_);
@@ -145,6 +146,14 @@
   }
 
+  unsigned char cfg_return_levels_[] = {DynamixelChain::SRL_RESPOND_NONE, 
+                                        DynamixelChain::SRL_RESPOND_READ,
+                                        DynamixelChain::SRL_RESPOND_ALL};
+
+  /* 
   // We only want responses to be sent on explicit READ to speed up communication
   chain_->set_status_return_level(DynamixelChain::BROADCAST_ID, DynamixelChain::SRL_RESPOND_READ);
+  */
+  chain_->set_status_return_level(DynamixelChain::BROADCAST_ID, cfg_return_levels_[cfg_return_level_]);
+
   // set compliance values
   chain_->set_compliance_values(DynamixelChain::BROADCAST_ID,
@@ -862,6 +871,6 @@
 
   if ( (pos < 0) || ((unsigned int)pos < pos_min) || ((unsigned int)pos > pos_max) ) {
-    logger->log_warn(name(), "Position out of bounds, min: %u  max: %u  des: %i",
-                     pos_min, pos_max, pos);
+    logger->log_warn(name(), "Position out of bounds (id %d), min: %u  max: %u  des: %i",
+                     servo_id, pos_min, pos_max, pos);
     return;
   }
Index: fawkes-robotino/fawkes/src/plugins/robotino/openrobotino_com_thread.cpp
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -277,5 +277,5 @@
 #ifdef HAVE_OPENROBOTINO_API_2
         com_->processComEvents();
-
+        update_velocities();
         double odo_x = 0, odo_y = 0, odo_phi = 0;
         unsigned int odo_seq = 0;
Index: fawkes-robotino/src/libs/llsf_msgs/Makefile
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -22,4 +22,6 @@
 MSGS_llsf_msgs = $(notdir $(patsubst %.proto,%,$(wildcard $(SRCDIR)/*.proto)))
 
+MachineReport.pb.cpp: | Team.pb.cpp
+
 include $(BUILDSYSDIR)/protobuf.mk
 include $(BUILDSYSDIR)/base.mk
Index: fawkes-robotino/src/plugins/agent-monitor/agent-monitor-processor.cpp
===================================================================
--- リビジョン 2260
+++ リビジョン 2266
@@ -64,5 +64,6 @@
   env_name_ = config_->get_string("/agent-monitor/clips-environment");
   // own_name_ = config_->get_string("/clips-agent/llsf2014/robot-name");
-  own_name_ = config_->get_string("/clips-agent/rcll2016/robot-name");
+  // own_name_ = config_->get_string("/clips-agent/rcll2016/robot-name");
+  own_name_ = config_->get_string("/clips-agent/rcll2018/robot-name");
   refresh_interval_ = std::to_string(config_->get_int("/agent-monitor/refresh-interval"));
Index: fawkes-robotino/src/plugins/gazebo/gazsim-llsfrbcomm/gazsim_llsfrbcomm_thread.cpp
===================================================================
--- リビジョン 2264
+++ リビジョン 2266
@@ -207,5 +207,5 @@
 
 /*
-void GazsimLLSFRbCommThread::on_puck_place_msg(ConstPlacePuckUnderMachinePtr &msg)
+ void GazsimLLSFRbCommThread::on_puck_place_msg(ConstPlacePuckUnderMachinePtr &msg)
 {
   //logger->log_info(name(), "Sending PPUM to refbox");
@@ -220,5 +220,5 @@
 
 /*
-void GazsimLLSFRbCommThread::on_puck_remove_msg(ConstRemovePuckFromMachinePtr &msg)
+ void GazsimLLSFRbCommThread::on_puck_remove_msg(ConstRemovePuckFromMachinePtr &msg)
 {
   //logger->log_info(name(), "Sending RPFM to refbox");
Index: fawkes-robotino/src/plugins/gazebo/gazsim-llsfrbcomm/gazsim_llsfrbcomm_thread.h
===================================================================
--- リビジョン 2264
+++ リビジョン 2266
@@ -52,5 +52,5 @@
 
 typedef const boost::shared_ptr<llsf_msgs::MachineInfo const> ConstMachineInfoPtr;
-//typedef const boost::shared_ptr<llsf_msgs::PlacePuckUnderMachine const> ConstPlacePuckUnderMachinePtr;
+// typedef const boost::shared_ptr<llsf_msgs::PlacePuckUnderMachine const> ConstPlacePuckUnderMachinePtr;
 // typedef const boost::shared_ptr<llsf_msgs::RemovePuckFromMachine const> ConstRemovePuckFromMachinePtr;
 typedef const boost::shared_ptr<gazsim_msgs::SimTime const> ConstSimTimePtr;
@@ -108,6 +108,6 @@
 
   //handler methods
-//  void on_puck_place_msg(ConstPlacePuckUnderMachinePtr &msg);
-//  void on_puck_remove_msg(ConstRemovePuckFromMachinePtr &msg);
+  // void on_puck_place_msg(ConstPlacePuckUnderMachinePtr &msg);
+  // void on_puck_remove_msg(ConstRemovePuckFromMachinePtr &msg);
   void on_time_sync_msg(ConstSimTimePtr &msg);
   void on_set_game_state_msg(ConstSetGameStatePtr &msg);

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