refactor: change nodes

ichiro-its · May 26, 2023 · 284d741 · 284d741
1 parent c02e764
commit 284d741
Show file tree

Hide file tree

Showing 4 changed files with 22 additions and 22 deletions.
diff --git a/include/kansei/fallen/node/fallen_node.hpp b/include/kansei/fallen/node/fallen_node.hpp
@@ -25,28 +25,31 @@
 #include <string>
 
 #include "kansei/fallen/node/fallen_determinant.hpp"
-#include "kansei_interfaces/msg/fallen.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/int8.hpp"
 
 namespace kansei::fallen
 {
 
 class FallenNode
 {
 public:
+  using Int8 = std_msgs::msg::Int8;
+
+  static std::string get_node_prefix();
+  static std::string fallen_topic();
+
   explicit FallenNode(
     rclcpp::Node::SharedPtr node, std::shared_ptr<FallenDeterminant> fallen_determinant);
 
   void update(const keisan::Euler<double> & rpy, const keisan::Vector<3> & acc);
 
 private:
-  std::string get_node_prefix() const;
-
   void publish_fallen();
 
   std::shared_ptr<FallenDeterminant> fallen_determinant;
 
-  rclcpp::Publisher<kansei_interfaces::msg::Fallen>::SharedPtr fallen_publisher;
+  rclcpp::Publisher<Int8>::SharedPtr fallen_publisher;
 };
 
 }  // namespace kansei::fallen

diff --git a/include/kansei/measurement/node/measurement_node.hpp b/include/kansei/measurement/node/measurement_node.hpp
@@ -26,10 +26,10 @@
 
 #include "kansei/measurement/node/measurement_unit.hpp"
 #include "kansei_interfaces/msg/axis.hpp"
-#include "kansei_interfaces/msg/reset_orientation.hpp"
 #include "kansei_interfaces/msg/status.hpp"
 #include "kansei_interfaces/msg/unit.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/float64.hpp"
 
 namespace kansei::measurement
 {
@@ -38,7 +38,7 @@ class MeasurementNode
 {
 public:
   using Axis = kansei_interfaces::msg::Axis;
-  using ResetOrientation = kansei_interfaces::msg::ResetOrientation;
+  using Float64 = std_msgs::msg::Float64;
   using Status = kansei_interfaces::msg::Status;
   using Unit = kansei_interfaces::msg::Unit;
 
@@ -60,7 +60,7 @@ class MeasurementNode
 
   std::shared_ptr<MeasurementUnit> measurement_unit;
 
-  rclcpp::Subscription<ResetOrientation>::SharedPtr reset_orientation_subscriber;
+  rclcpp::Subscription<Float64>::SharedPtr reset_orientation_subscriber;
 
   rclcpp::Publisher<Unit>::SharedPtr unit_publisher;
   rclcpp::Subscription<Unit>::SharedPtr unit_subscriber;

diff --git a/src/kansei/fallen/node/fallen_node.cpp b/src/kansei/fallen/node/fallen_node.cpp
@@ -19,9 +19,8 @@
 // SOFTWARE.
 
 #include <kansei_interfaces/msg/fallen.hpp>
-#include <rclcpp/rclcpp.hpp>
-
 #include <memory>
+#include <rclcpp/rclcpp.hpp>
 #include <string>
 
 #include "kansei/fallen/fallen.hpp"
@@ -32,12 +31,15 @@ using namespace keisan::literals;  // NOLINT
 namespace kansei::fallen
 {
 
+std::string FallenNode::get_node_prefix() { return "fallen"; }
+
+std::string FallenNode::fallen_topic() { return get_node_prefix() + "/fallen"; }
+
 FallenNode::FallenNode(
   rclcpp::Node::SharedPtr node, std::shared_ptr<FallenDeterminant> fallen_determinant)
 : fallen_determinant(fallen_determinant)
 {
-  fallen_publisher = node->create_publisher<kansei_interfaces::msg::Fallen>(
-    get_node_prefix() + "/fallen", 10);
+  fallen_publisher = node->create_publisher<Int8>(fallen_topic(), 10);
 }
 
 void FallenNode::update(const keisan::Euler<double> & rpy, const keisan::Vector<3> & acc)
@@ -55,16 +57,11 @@ void FallenNode::update(const keisan::Euler<double> & rpy, const keisan::Vector<
   }
 }
 
-std::string FallenNode::get_node_prefix() const
-{
-  return "fallen";
-}
-
 void FallenNode::publish_fallen()
 {
-  auto fallen_msg = kansei_interfaces::msg::Fallen();
+  auto fallen_msg = Int8();
 
-  fallen_msg.fallen_status = fallen_determinant->get_fallen_status();
+  fallen_msg.data = fallen_determinant->get_fallen_status();
 
   fallen_publisher->publish(fallen_msg);
 }

diff --git a/src/kansei/measurement/node/measurement_node.cpp b/src/kansei/measurement/node/measurement_node.cpp
@@ -50,12 +50,12 @@ MeasurementNode::MeasurementNode(
   rclcpp::Node::SharedPtr node, std::shared_ptr<MeasurementUnit> measurement_unit)
 : measurement_unit(measurement_unit)
 {
-  reset_orientation_subscriber = node->create_subscription<ResetOrientation>(
-    reset_orientation_topic(), 10, [this](const ResetOrientation::SharedPtr message) {
-      if (message->orientation == 0.0) {
+  reset_orientation_subscriber = node->create_subscription<Float64>(
+    reset_orientation_topic(), 10, [this](const Float64::SharedPtr message) {
+      if (message->data == 0.0) {
         this->measurement_unit->reset_orientation();
       } else {
-        this->measurement_unit->set_orientation_to(keisan::make_degree(message->orientation));
+        this->measurement_unit->set_orientation_to(keisan::make_degree(message->data));
       }
     });