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Fix typo, soprt_request should be sport_request #4

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Fix typo, soprt_request should be sport_request #4

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12 changes: 6 additions & 6 deletions example/src/src/sport_mode_ctrl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,18 +9,18 @@
#include "common/ros2_sport_client.h"

using std::placeholders::_1;
// Create a soprt_request class for soprt commond request
class soprt_request : public rclcpp::Node
// Create a sport_request class for soprt commond request
class sport_request : public rclcpp::Node
{
public:
soprt_request() : Node("req_sender")
sport_request() : Node("req_sender")
{
// the state_suber is set to subscribe "sportmodestate" topic
state_suber = this->create_subscription<unitree_go::msg::SportModeState>(
"sportmodestate", 10, std::bind(&soprt_request::state_callback, this, _1));
"sportmodestate", 10, std::bind(&sport_request::state_callback, this, _1));
// the req_puber is set to subscribe "/api/sport/request" topic with dt
req_puber = this->create_publisher<unitree_api::msg::Request>("/api/sport/request", 10);
timer_ = this->create_wall_timer(std::chrono::milliseconds(int(dt * 1000)), std::bind(&soprt_request::timer_callback, this));
timer_ = this->create_wall_timer(std::chrono::milliseconds(int(dt * 1000)), std::bind(&sport_request::timer_callback, this));

t = -1; // Runing time count
};
Expand Down Expand Up @@ -102,7 +102,7 @@ int main(int argc, char *argv[])
rclcpp::init(argc, argv); // Initialize rclcpp
rclcpp::TimerBase::SharedPtr timer_; // Create a timer callback object to send sport request in time intervals

rclcpp::spin(std::make_shared<soprt_request>()); //Run ROS2 node
rclcpp::spin(std::make_shared<sport_request>()); //Run ROS2 node

rclcpp::shutdown();
return 0;
Expand Down