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refactor(navigation): Update ChannelSubscriberPtr to use specific message type

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- Changed ChannelSubscriberPtr to ChannelSubscriberPtr<std_msgs::msg::dds_::String_> for slamInfo and slamKeyInfo in navigation.hpp and navigation.cpp.
- Updated initialization of subscribers to reflect the new type specification.
This commit is contained in:
Sucan126
2025-09-22 14:50:52 +08:00
parent 6b9ad80757
commit 48cae46960
2 changed files with 4 additions and 4 deletions
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4
include/navigation.hpp
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@@ -83,8 +83,8 @@ private:
void slamInfoHandler(const void *message); void slamInfoHandler(const void *message);
void slamKeyInfoHandler(const void *message); void slamKeyInfoHandler(const void *message);
unitree::robot::ChannelSubscriberPtr subSlamInfo; unitree::robot::ChannelSubscriberPtr<std_msgs::msg::dds_::String_> subSlamInfo;
unitree::robot::ChannelSubscriberPtr subSlamKeyInfo; unitree::robot::ChannelSubscriberPtr<std_msgs::msg::dds_::String_> subSlamKeyInfo;
poseDate currentPose; poseDate currentPose;
bool is_arrived = false; bool is_arrived = false;

4
src/navigation.cpp
View File

@@ -4,12 +4,12 @@
namespace custom { namespace custom {
Navigation::Navigation() : unitree::robot::Client(SLAM_SERVICE_NAME) { Navigation::Navigation() : unitree::robot::Client(SLAM_SERVICE_NAME) {
subSlamInfo = unitree::robot::ChannelSubscriberPtr( subSlamInfo = unitree::robot::ChannelSubscriberPtr<std_msgs::msg::dds_::String_>(
new unitree::robot::ChannelSubscriber<std_msgs::msg::dds_::String_>(SlamInfoTopic)); new unitree::robot::ChannelSubscriber<std_msgs::msg::dds_::String_>(SlamInfoTopic));
subSlamInfo->InitChannel( subSlamInfo->InitChannel(
std::bind(&Navigation::slamInfoHandler, this, std::placeholders::_1), 1); std::bind(&Navigation::slamInfoHandler, this, std::placeholders::_1), 1);
subSlamKeyInfo = unitree::robot::ChannelSubscriberPtr( subSlamKeyInfo = unitree::robot::ChannelSubscriberPtr<std_msgs::msg::dds_::String_>(
new unitree::robot::ChannelSubscriber<std_msgs::msg::dds_::String_>(SlamKeyInfoTopic)); new unitree::robot::ChannelSubscriber<std_msgs::msg::dds_::String_>(SlamKeyInfoTopic));
subSlamKeyInfo->InitChannel( subSlamKeyInfo->InitChannel(
std::bind(&Navigation::slamKeyInfoHandler, this, std::placeholders::_1), 1); std::bind(&Navigation::slamKeyInfoHandler, this, std::placeholders::_1), 1);