Merge branch 'lidars' into ketchup

[eurobot/public.git] / src / robofsm / robot_orte.c

diff --git a/src/robofsm/robot_orte.c b/src/robofsm/robot_orte.c
index bb9763a2e2e90b37a45fc0a2d5e292a7f0119d81..a840e2258c57e644a9b3fc28a79b3f1cd59220b0 100644 (file)
--- a/src/robofsm/robot_orte.c
+++ b/src/robofsm/robot_orte.c
@@ -28,6 +28,7 @@
 #include <can_msg_def.h>
 #include <actuators.h>
 #include <ul_log.h>
+#include <lidar_params.h>
 
 UL_LOG_CUST(ulogd_robot_orte); /* Log domain name = ulogd + name of the file */
 
@@ -325,7 +326,7 @@ void rcv_hokuyo_scan_cb(const ORTERecvInfo *info, void *vinstance,
                        ROBOT_UNLOCK(hokuyo);
                        if(!robot.ignore_hokuyo)
                        {
-                               //update_map_hokuyo(instance);
+                               //update_map_lidar(&hokuyo_params, instance);
                        }
                        break;
                }
@@ -350,13 +351,12 @@ void rcv_sick_scan_cb(const ORTERecvInfo *info, void *vinstance,
                        ROBOT_UNLOCK(sick);
                        if(!robot.ignore_sick)
                        {
-                               update_map_hokuyo(instance);
+                               update_map_lidar(&sick_params, instance);
                        }
                        break;
                }
                case DEADLINE:
                        robot.status[COMPONENT_SICK] = STATUS_FAILED;
-                       //system("killall -9 hokuyo");
                        DBG("%s: ORTE deadline occurred\n", __FUNCTION__);
                        break;
        }