diff --git a/brickpi3/src/BrickPi3BaseController_rx.cpp b/brickpi3/src/BrickPi3BaseController_rx.cpp index 74c0505..df91725 100644 --- a/brickpi3/src/BrickPi3BaseController_rx.cpp +++ b/brickpi3/src/BrickPi3BaseController_rx.cpp @@ -41,7 +41,7 @@ enum WheelId{ LEFT_WHEEL = 0, RIGHT_WHEEL = 1}; int main(int argc, char** argv) { - rxros::init(argc, argv, "brickpi3_base_controller"); // Name of this node. + ros::init(argc, argv, "brickpi3_base_controller"); // Name of this node. const auto l_wheel_joint = rxros::parameter::get("/brickpi3/l_wheel_joint", "l_wheel_joint"); const auto r_wheel_joint = rxros::parameter::get("/brickpi3/r_wheel_joint", "r_wheel_joint"); @@ -104,5 +104,5 @@ int main(int argc, char** argv) | map(effort_2_joint_cmd(RIGHT_WHEEL)) | publish_to_topic("/joint_command"); - rxros::spin(); + ros::spin(); } diff --git a/brickpi3/src/BrickPi3JointStatesPublisher_rx.cpp b/brickpi3/src/BrickPi3JointStatesPublisher_rx.cpp index 69b2407..bc69887 100644 --- a/brickpi3/src/BrickPi3JointStatesPublisher_rx.cpp +++ b/brickpi3/src/BrickPi3JointStatesPublisher_rx.cpp @@ -53,7 +53,7 @@ auto tuple_2_joint_states = [](const auto& ljs, const auto& rjs) { // tuple: lef int main(int argc, char** argv) { - rxros::init(argc, argv, "brickpi3_joint_states_publisher"); // Name of this node. + ros::init(argc, argv, "brickpi3_joint_states_publisher"); // Name of this node. const auto l_wheel_joint = rxros::parameter::get("/brickpi3/l_wheel_joint", "l_wheel_joint"); const auto r_wheel_joint = rxros::parameter::get("/brickpi3/r_wheel_joint", "r_wheel_joint"); @@ -68,5 +68,5 @@ int main(int argc, char** argv) left_wheel_observable.zip(tuple_2_joint_states, right_wheel_observable) | publish_to_topic("/joint_states"); - rxros::spin(); + ros::spin(); } diff --git a/brickpi3/src/BrickPi3Observable_rx.h b/brickpi3/src/BrickPi3Observable_rx.h index a7564e3..16637ee 100644 --- a/brickpi3/src/BrickPi3Observable_rx.h +++ b/brickpi3/src/BrickPi3Observable_rx.h @@ -65,7 +65,7 @@ namespace brickpi3 brickPi3.set_sensor_type(id, SENSOR_TYPE_TOUCH_NXT); ros::Rate rate(frequency); - while (rxros::ok()) { + while (ros::ok()) { sensor_touch_t touch; int rc = brickPi3.get_sensor(id, &touch); if (rc == 0) { @@ -98,7 +98,7 @@ namespace brickpi3 brickPi3.set_sensor_type(id, SENSOR_TYPE_NXT_COLOR_FULL); ros::Rate rate(frequency); - while (rxros::ok()) { + while (ros::ok()) { sensor_color_t color; int rc = brickPi3.get_sensor(id, &color); if (rc == 0) { @@ -130,7 +130,7 @@ namespace brickpi3 brickPi3.set_sensor_type(id, SENSOR_TYPE_NXT_ULTRASONIC); ros::Rate rate(frequency); - while (rxros::ok()) { + while (ros::ok()) { sensor_ultrasonic_t ultrasonic; int rc = brickPi3.get_sensor(id, &ultrasonic); if (rc == 0) { @@ -162,7 +162,7 @@ namespace brickpi3 brickPi3.reset_motor_encoder(id); ros::Rate rate(frequency); - while (rxros::ok()) { + while (ros::ok()) { actuator_motor_t motor{}; int rc = brickPi3.get_motor_status(id, motor.motorState, motor.motorPower, motor.motorPosition, motor.motorDPS); if (rc == 0) { diff --git a/brickpi3/src/BrickPi3OdomPublisher_rx.cpp b/brickpi3/src/BrickPi3OdomPublisher_rx.cpp index dab25b5..b77438c 100644 --- a/brickpi3/src/BrickPi3OdomPublisher_rx.cpp +++ b/brickpi3/src/BrickPi3OdomPublisher_rx.cpp @@ -41,7 +41,7 @@ using namespace rxros::operators; int main(int argc, char** argv) { - rxros::init(argc, argv, "brickpi3_odom_publisher"); // Name of this node. + ros::init(argc, argv, "brickpi3_odom_publisher"); // Name of this node. const auto l_wheel_joint = rxros::parameter::get("/brickpi3/l_wheel_joint", "l_wheel_joint"); const auto r_wheel_joint = rxros::parameter::get("/brickpi3/r_wheel_joint", "r_wheel_joint"); @@ -107,5 +107,5 @@ int main(int argc, char** argv) | map(stsTuple2Odometry) | publish_to_topic("/odom"); - rxros::spin(); + ros::spin(); } diff --git a/brickpi3/src/BrickPi3Ros_rx.cpp b/brickpi3/src/BrickPi3Ros_rx.cpp index c1756b8..c088322 100644 --- a/brickpi3/src/BrickPi3Ros_rx.cpp +++ b/brickpi3/src/BrickPi3Ros_rx.cpp @@ -50,7 +50,7 @@ auto join_with_latest_from(const Observable& observable) { int main(int argc, char** argv) { - rxros::init(argc, argv, "brickpi3"); // Name of this node. + ros::init(argc, argv, "brickpi3"); // Name of this node. auto touchEvent2ContactMsg = [] (const std::string& frameId) { return [=](const sensor_touch_t& touchEvent) { @@ -154,5 +154,5 @@ int main(int argc, char** argv) { }}, [](){}); // on completed event - rxros::spin(); + ros::spin(); } diff --git a/rxros_listener/src/rxros_listener.cpp b/rxros_listener/src/rxros_listener.cpp index 53eb3fe..636fbe2 100644 --- a/rxros_listener/src/rxros_listener.cpp +++ b/rxros_listener/src/rxros_listener.cpp @@ -38,14 +38,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. int main(int argc, char **argv) { - rxros::init(argc, argv, "listener"); + ros::init(argc, argv, "listener"); rxros::observable::from_topic("/chatter", 1000) .subscribe ( [] (const std_msgs::String& msg) { ROS_INFO_STREAM ("I heard: [" << msg.data << "]"); }); - rxros::spin(); + ros::spin(); return 0; } diff --git a/rxros_talker/src/rxros_talker.cpp b/rxros_talker/src/rxros_talker.cpp index 6f58953..2087763 100644 --- a/rxros_talker/src/rxros_talker.cpp +++ b/rxros_talker/src/rxros_talker.cpp @@ -48,7 +48,7 @@ int main(int argc, char **argv) { using namespace rxcpp::operators; - rxros::init(argc, argv, "talker"); + ros::init(argc, argv, "talker"); const std::string hello = "hello world "; rxcpp::observable<>::interval (std::chrono::milliseconds (1000)) @@ -58,6 +58,6 @@ int main(int argc, char **argv) { ROS_INFO_STREAM (msg.data); }) | rxros::operators::publish_to_topic ("/chatter", 1000); - rxros::spin(); + ros::spin(); return 0; } diff --git a/rxros_teleop/src/JoystickPublisher_rx.cpp b/rxros_teleop/src/JoystickPublisher_rx.cpp index 78bd1ea..eda09a6 100644 --- a/rxros_teleop/src/JoystickPublisher_rx.cpp +++ b/rxros_teleop/src/JoystickPublisher_rx.cpp @@ -48,7 +48,7 @@ struct joystick_event int main(int argc, char** argv) { - rxros::init(argc, argv, "joystick_publisher"); // Name of this Node. + ros::init(argc, argv, "joystick_publisher"); // Name of this Node. const auto joystickDevice = rxros::parameter::get("/joystick_publisher/device", "/dev/input/js0"); rxros::logging().info() << "Joystick device: " << joystickDevice; @@ -95,5 +95,5 @@ int main(int argc, char** argv) | publish_to_topic("/joystick"); rxros::logging().info() << "Spinning joystick_publisher ..."; - rxros::spin(); + ros::spin(); } diff --git a/rxros_teleop/src/KeyboardPublisher_rx.cpp b/rxros_teleop/src/KeyboardPublisher_rx.cpp index e418854..e9dd749 100644 --- a/rxros_teleop/src/KeyboardPublisher_rx.cpp +++ b/rxros_teleop/src/KeyboardPublisher_rx.cpp @@ -37,7 +37,7 @@ using namespace rxros::operators; int main(int argc, char** argv) { - rxros::init(argc, argv, "keyboard_publisher"); // Name of this Node. + ros::init(argc, argv, "keyboard_publisher"); // Name of this Node. const auto keyboardDevice = rxros::parameter::get("/keyboard_publisher/device", "/dev/input/event4"); // Use event4 for dell, event4 for nuc and event1 for others rxros::logging().info() << "Keyboard device: " << keyboardDevice; @@ -67,5 +67,5 @@ int main(int argc, char** argv) | publish_to_topic("/keyboard"); rxros::logging().info() << "Spinning keyboard_publisher..."; - rxros::spin(); + ros::spin(); } diff --git a/rxros_teleop/src/VelocityPublisher_rx.cpp b/rxros_teleop/src/VelocityPublisher_rx.cpp index aa19c29..c3a4ad7 100644 --- a/rxros_teleop/src/VelocityPublisher_rx.cpp +++ b/rxros_teleop/src/VelocityPublisher_rx.cpp @@ -39,7 +39,7 @@ using namespace rxros::operators; int main(int argc, char** argv) { - rxros::init(argc, argv, "velocity_publisher"); // Name of this node. + ros::init(argc, argv, "velocity_publisher"); // Name of this node. const auto frequencyInHz = rxros::parameter::get("/velocity_publisher/frequency", 10.0); // hz const auto minVelLinear = rxros::parameter::get("/velocity_publisher/min_vel_linear", 0.04); // m/s @@ -98,5 +98,5 @@ int main(int argc, char** argv) { | publish_to_topic("/cmd_vel"); // publish the Twist messages to the topic "/cmd_vel" rxros::logging().info() << "Spinning velocity_publisher ..."; - rxros::spin(); + ros::spin(); }