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Commit b10d109b authored by cs-99's avatar cs-99
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main.cpp
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...@@ -352,7 +352,7 @@ void mappings_callback_to_TRON(const ros::MessageEvent<T>& event){ ...@@ -352,7 +352,7 @@ void mappings_callback_to_TRON(const ros::MessageEvent<T>& event){
std::string topic = event.getConnectionHeader().at("topic"); std::string topic = event.getConnectionHeader().at("topic");
byte *bytes = reinterpret_cast<byte*>(event.getMessage().get()); byte *bytes = reinterpret_cast<byte*>(event.getMessage().get());
for (Mapping& mapping : mappings) { for (Mapping& mapping : mappings) {
if (mapping.topic.c_str() == topic) { if (mapping.topic.c_str() == topic && !mapping.channel.is_input) {
int var_count = mapping.byte_offset.size(); int var_count = mapping.byte_offset.size();
int32_t vars[var_count * 4]; int32_t vars[var_count * 4];
int next_pos = 0; int next_pos = 0;
...@@ -453,7 +453,7 @@ void process_TRONs_msgs(){ ...@@ -453,7 +453,7 @@ void process_TRONs_msgs(){
} }
for (Mapping& map : mappings) for (Mapping& map : mappings)
if (map.channel.name == chan->name) if (map.channel.name == chan->name && map.channel.is_input)
for (ros::Publisher& pub : input_publishers){ for (ros::Publisher& pub : input_publishers){
if (pub.getTopic() == map.topic) { if (pub.getTopic() == map.topic) {
if (map.input_callback != nullptr) if (map.input_callback != nullptr)
......
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