Using 2 Hedgehogs in ROS

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omichaschu
Posts: 1
Joined: Fri Aug 18, 2017 4:03 pm

Using 2 Hedgehogs in ROS

Postby omichaschu » Fri Aug 18, 2017 4:08 pm

Hello,
I want to use two hedgehogs in one ROS-system. The code provided by marvelmind works just fine with one beacon. If I want to use a second one I have to do some changes to the code right?
Did anybody already did this, or knows what I have to change?
I thought maybe its enough to make the name of the node and the topics depend on another argument.
Thanks for any help and/or advises.

omichaschu

smoker77
Posts: 107
Joined: Sat Feb 06, 2016 4:03 pm

Re: Using 2 Hedgehogs in ROS

Postby smoker77 » Fri Aug 18, 2017 7:18 pm

Hello,
Current version of ROS package (1.0.6) already supports receiving position of multiple hedgehogs.
Here is link to repository:
https://bitbucket.org/marvelmind_roboti ... nd_package
As you can see in example 'subscriber_test.cpp' by this link, the incoming messages have field 'address' which contain address of hedgehog and allows to differ messages about positions of different hedgehogs.
The messages with address are coming into topic '/hedge_pos_a'. The topic '/hedge_pos' for messages without address is remained for compatibility.
In previous versions of software only modem could supply positions of multiple hedgehogs.
In new version of software (5.72) published several days ago, you can also get positions of all hedgehogs from every hedgehog.


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