Changed nav_msgs:Path to lart_msgs PathSpline

Author: PlagySantos

safety_monitor/include/Safety_monitor/monitor.h

@@ -11,7 +11,7 @@
 
 #include "timeFreq.h"
 #include "rclcpp/rclcpp.hpp"
-#include "nav_msgs/msg/path.hpp"
+#include "lart_msgs/msg/path_spline.hpp"
 #include "lart_msgs/msg/state.hpp"
 #include "sensor_msgs/msg/image.hpp"
 #include "lart_msgs/msg/cone_array.hpp"
@@ -46,7 +46,7 @@ class SafetyMonitor : public rclcpp::Node
 
     //Subs for the mapper|planner|control
     rclcpp::Subscription<lart_msgs::msg::ConeArray>::SharedPtr mapping_sub;
-    rclcpp::Subscription<nav_msgs::msg::Path>::SharedPtr planning_sub;
+    rclcpp::Subscription<lart_msgs::msg::PathSpline>::SharedPtr planning_sub;
     rclcpp::Subscription<lart_msgs::msg::DynamicsCMD>::SharedPtr control_sub;
 
     //Sub for the state
@@ -72,7 +72,7 @@ class SafetyMonitor : public rclcpp::Node
     void depthInfo_callback(const sensor_msgs::msg::CameraInfo::SharedPtr msg);
 
     void mapping_callback(const lart_msgs::msg::ConeArray::SharedPtr msg);
-    void planning_callback(const nav_msgs::msg::Path::SharedPtr msg);
+    void planning_callback(const lart_msgs::msg::PathSpline::SharedPtr msg);
     void control_callback(const lart_msgs::msg::DynamicsCMD::SharedPtr msg);
 
 

safety_monitor/src/monitor.cpp

@@ -41,7 +41,7 @@ SafetyMonitor::SafetyMonitor() : Node("safety_monitor")
     depth_info_sub = this->create_subscription<sensor_msgs::msg::CameraInfo>(topics[5], 10, std::bind(&SafetyMonitor::depthInfo_callback,this, _1));
 
     mapping_sub = this->create_subscription<lart_msgs::msg::ConeArray>(topics[6], 10, std::bind(&SafetyMonitor::mapping_callback,this, _1));
-    planning_sub = this->create_subscription<nav_msgs::msg::Path>(topics[7], 10, std::bind(&SafetyMonitor::planning_callback,this, _1));
+    planning_sub = this->create_subscription<lart_msgs::msg::PathSpline>(topics[7], 10, std::bind(&SafetyMonitor::planning_callback,this, _1));
     control_sub = this->create_subscription<lart_msgs::msg::DynamicsCMD>(topics[8], 10, std::bind(&SafetyMonitor::control_callback,this, _1));
 
 
@@ -56,8 +56,6 @@ SafetyMonitor::SafetyMonitor() : Node("safety_monitor")
 
 }
 
-
-// TODO: Optimize later!!!
 void SafetyMonitor::leftImage_callback(const sensor_msgs::msg::Image::SharedPtr msg)
 {
     (void) msg;
@@ -107,7 +105,7 @@ void SafetyMonitor::mapping_callback(const lart_msgs::msg::ConeArray::SharedPtr
     update_time(topics[6]);
 }
 
-void SafetyMonitor::planning_callback(const nav_msgs::msg::Path::SharedPtr msg)
+void SafetyMonitor::planning_callback(const lart_msgs::msg::PathSpline::SharedPtr msg)
 {
     (void) msg;
     RCLCPP_INFO(this->get_logger(), "Planner msg has been received");