Changed syropod_manipulation topic name.

Author: Lu, Bethany(Data61, Pullenvale)

include/syropod_highlevel_controller/state_controller.h

@@ -217,12 +217,14 @@ class StateController
   /// @param[in] input The Point geometry message provided by the topic "syropod_remote/secondary_tip_velocity"
   void secondaryTipVelocityInputCallback(const geometry_msgs::Point &input);
 
-  /// Callback for the input manual tip position (in cartesian space) for the primary selected leg. 
-  /// @param[in] input The Pose geometry message provided by the subscribed topic "/syropod_manipulation/primary/pose"
+  /// Callback for the input manual tip pose (in cartesian space) for the primary selected leg. 
+  /// @param[in] input The Pose geometry message provided by the subscribed topic
+  /// "/syropod_manipulation/primary_tip_pose"
   void  primaryTipPoseInputCallback(const geometry_msgs::Pose &msg);
 
-  /// Callback for the input manual tip position (in cartesian space) for the secondary selected leg. 
-  /// @param[in] input The Pose geometry message provided by the subscribed topic "/syropod_manipulation/secondary/Ppse"
+  /// Callback for the input manual tip pose (in cartesian space) for the secondary selected leg. 
+  /// @param[in] input The Pose geometry message provided by the subscribed topic
+  /// "/syropod_manipulation/secondary_tip_pose"
   void  secondaryTipPoseInputCallback(const geometry_msgs::Pose &msg);
 
   /// Callback handling the desired parameter selection and sending state messages to user interface.
@@ -289,8 +291,8 @@ class StateController
   ros::Subscriber parameter_selection_subscriber_;     ///< Subscriber for topic /syropod_remote/parameter_selection
   ros::Subscriber parameter_adjustment_subscriber_;    ///< Subscriber for topic /syropod_remote/parameter_adjustment
 
-  ros::Subscriber primary_tip_pose_subscriber_;   ///< Subscriber for topic /syropod_manipulation/primary/pose
-  ros::Subscriber secondary_tip_pose_subscriber_; ///< Subscriber for topic /syropod_manipulation/secondary/pose
+  ros::Subscriber primary_tip_pose_subscriber_;   ///< Subscriber for topic /syropod_manipulation/primary_tip_pose
+  ros::Subscriber secondary_tip_pose_subscriber_; ///< Subscriber for topic /syropod_manipulation/secondary_tip_pose
 
   ros::Subscriber target_configuration_subscriber_; ///< Subscriber for topic /target_configuration
   ros::Subscriber target_body_pose_subscriber_;     ///< Subscriber for topic /target_body_pose

readme.md

@@ -99,13 +99,13 @@ For information on parameters see readme in config folder.
 
 ### Syropod Manipulation:
 * AR Leg Tip Position:
-    * Description: The desired position of leg AR in Cartesian space.   
-    * Topic: */syropod_manipulation/primary/Pose*
+    * Description: The desired pose of leg AR in Cartesian space.   
+    * Topic: */syropod_manipulation/primary_tip_pose*
     * Type:  geometry_msgs::Pose
 
 * AL Leg Tip Position:
-    * Description: The desired position of leg AL in Cartesian space.   
-    * Topic: */syropod_manipulation/secondary/Pose*
+    * Description: The desired pose of leg AL in Cartesian space.   
+    * Topic: */syropod_manipulation/secondary_tip_pose*
     * Type:  geometry_msgs::Pose
 
 ### Motor and Sensor Inputs

src/state_controller.cpp

@@ -63,11 +63,11 @@ StateController::StateController(void)
                                                 &StateController::parameterSelectionCallback, this);
   parameter_adjustment_subscriber_ = n.subscribe("syropod_remote/parameter_adjustment", 1,
                                                  &StateController::parameterAdjustCallback, this);
-                                                 
+
   // Hexapod Leg Manipulation topic subscriptions
-  primary_tip_pose_subscriber_ = n.subscribe("/syropod_manipulation/primary/pose", 1,
+  primary_tip_pose_subscriber_ = n.subscribe("/syropod_manipulation/primary_tip_pose", 1,
                                              &StateController::primaryTipPoseInputCallback, this);
-  secondary_tip_pose_subscriber_ = n.subscribe("/syropod_manipulation/secondary/pose", 1,
+  secondary_tip_pose_subscriber_ = n.subscribe("/syropod_manipulation/secondary_tip_pose", 1,
                                                &StateController::secondaryTipPoseInputCallback, this);
 
   // Planner subscription/publisher