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Added missing nodehandles for the QueueController's service clients
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Etienne committed Jun 28, 2024
1 parent fbb035f commit db2be16
Showing 1 changed file with 9 additions and 9 deletions.
18 changes: 9 additions & 9 deletions queue_controller/include/queue_controller/queue_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -151,7 +151,7 @@ class QueueController
}
else
{
renewal_service_client_ = PersistentServiceClient<TMetricControlPredictionSrv>(expected_renewal_time_service_name);
renewal_service_client_ = PersistentServiceClient<TMetricControlPredictionSrv>(nh_, expected_renewal_time_service_name);

ROS_INFO_STREAM("Waiting for the expected renewal time service named :" << expected_renewal_time_service_name);
renewal_service_client_.waitForExistence();
Expand All @@ -175,7 +175,7 @@ class QueueController
string solution_space_service_name;
if(nhp_.getParam("solution_space_service_name", solution_space_service_name))
{
solution_space_client_ = PersistentServiceClient<TPotentialActionSetSrv>(solution_space_service_name);
solution_space_client_ = PersistentServiceClient<TPotentialActionSetSrv>(nh_, solution_space_service_name);

ROS_INFO_STREAM("Waiting for the solution space client named :" << solution_space_service_name);
solution_space_client_.waitForExistence();
Expand All @@ -189,7 +189,7 @@ class QueueController
string penalty_service_name;
if(nhp_.getParam("penalty_service_name", penalty_service_name))
{
penalty_service_client_ = PersistentServiceClient<TMetricControlPredictionSrv>(penalty_service_name);
penalty_service_client_ = PersistentServiceClient<TMetricControlPredictionSrv>(nh_, penalty_service_name);

ROS_INFO_STREAM("Waiting for the penalty space client named :" << penalty_service_name);
penalty_service_client_.waitForExistence();
Expand Down Expand Up @@ -305,7 +305,7 @@ class QueueController
if (can_create_controller)
{
// Connect to queue_server for queue sizes
server_state_client_ = PersistentServiceClient<ros_queue_msgs::QueueServerStateFetch>(queue_server_name_ + "/get_server_state");
server_state_client_ = PersistentServiceClient<ros_queue_msgs::QueueServerStateFetch>(nh_, queue_server_name_ + "/get_server_state");

ROS_INFO_STREAM("Waiting for the server service named :" << server_state_client_.getService());
server_state_client_.waitForExistence();
Expand All @@ -319,7 +319,7 @@ class QueueController
}
else
{
virtual_queues_trigger_ = PersistentServiceClient<std_srvs::Empty>(queue_server_name_ + "/trigger_service");
virtual_queues_trigger_ = PersistentServiceClient<std_srvs::Empty>(nh_, queue_server_name_ + "/trigger_service");
ROS_INFO_STREAM("Waiting for the server service named :" << virtual_queues_trigger_.getService());
virtual_queues_trigger_.waitForExistence();
}
Expand Down Expand Up @@ -815,7 +815,7 @@ class QueueController
{
new_controller_struct->is_arrival_action_dependent = true;
new_controller_struct->expected_arrival_service_ =
PersistentServiceClient<TMetricControlPredictionSrv>(service_name_temp);
PersistentServiceClient<TMetricControlPredictionSrv>(nh_, service_name_temp);
ROS_INFO_STREAM("Waiting for the server service named :" << new_controller_struct->expected_arrival_service_.getService());
new_controller_struct->expected_arrival_service_.waitForExistence();
}
Expand All @@ -828,7 +828,7 @@ class QueueController
}
new_controller_struct->is_arrival_action_dependent = false;
new_controller_struct->arrival_independent_from_action_service_ =
PersistentServiceClient<ros_queue_msgs::FloatRequest>(service_name_temp);
PersistentServiceClient<ros_queue_msgs::FloatRequest>(nh_, service_name_temp);
ROS_INFO_STREAM("Waiting for the server service named :" << new_controller_struct->arrival_independent_from_action_service_.getService());
new_controller_struct->arrival_independent_from_action_service_.waitForExistence();
}
Expand Down Expand Up @@ -863,7 +863,7 @@ class QueueController
{
new_controller_struct->is_departure_action_dependent= true;
new_controller_struct->expected_departure_service_ =
PersistentServiceClient<TMetricControlPredictionSrv>(service_name_temp);
PersistentServiceClient<TMetricControlPredictionSrv>(nh_, service_name_temp);
ROS_INFO_STREAM("Waiting for the server service named :" << new_controller_struct->expected_departure_service_.getService());
new_controller_struct->expected_departure_service_.waitForExistence();
}
Expand All @@ -876,7 +876,7 @@ class QueueController
}
new_controller_struct->is_departure_action_dependent= false;
new_controller_struct->departure_independent_from_action_service_ =
PersistentServiceClient<ros_queue_msgs::FloatRequest>(service_name_temp);
PersistentServiceClient<ros_queue_msgs::FloatRequest>(nh_, service_name_temp);
ROS_INFO_STREAM("Waiting for the server service named :" << new_controller_struct->expected_departure_service_.getService());
new_controller_struct->expected_departure_service_.waitForExistence();

Expand Down

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