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Update CF publisher app #52

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merged 1 commit into from
Jan 28, 2021
Merged

Update CF publisher app #52

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9 changes: 7 additions & 2 deletions apps/crazyflie_position_publisher/app.c
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
#include <geometry_msgs/msg/point32.h>

#include <rcutils/allocator.h>

#include <rmw_uros/options.h>

#include "config.h"
#include "log.h"
Expand Down Expand Up @@ -61,8 +61,13 @@ void appMain(){
rcl_allocator_t allocator = rcl_get_default_allocator();
rclc_support_t support;

rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
RCCHECK(rcl_init_options_init(&init_options, allocator));
rmw_init_options_t* rmw_options = rcl_init_options_get_rmw_init_options(&init_options);
rmw_uros_options_set_serial_device("65", rmw_options);

// create init_options
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));

// create node
rcl_node_t node;
Expand Down