Merge pull request #152 from mike-matera/fix-disconnects

Fix constant erroneous disconnect messages.

Author: gmfricke

src/diagnostics/src/Diagnostics.cpp

@@ -18,7 +18,7 @@ Diagnostics::Diagnostics(std::string name) {
 
   this->publishedName = name;
   diagLogPublisher = nodeHandle.advertise<std_msgs::String>("/diagsLog", 1, true);
-  diagnosticDataPublisher  = nodeHandle.advertise<std_msgs::Float32MultiArray>("/"+publishedName+"/diagnostics", 10);
+  diagnosticDataPublisher  = nodeHandle.advertise<std_msgs::Float32MultiArray>("/"+publishedName+"/diagnostics", 1);
   fingerAngleSubscribe = nodeHandle.subscribe(publishedName + "/fingerAngle/prev_cmd", 10, &Diagnostics::fingerTimestampUpdate, this);
   wristAngleSubscribe = nodeHandle.subscribe(publishedName + "/fingerAngle/prev_cmd", 10, &Diagnostics::wristTimestampUpdate, this);
   imuSubscribe = nodeHandle.subscribe(publishedName + "/imu", 10, &Diagnostics::imuTimestampUpdate, this);

src/rqt_rover_gui/src/rover_gui_plugin.cpp

@@ -525,7 +525,7 @@ set<string> RoverGUIPlugin::findConnectedRovers()
 void RoverGUIPlugin::statusEventHandler(const ros::MessageEvent<std_msgs::String const> &event)
 {
     const ros::M_string& header = event.getConnectionHeader();
-    ros::Time receipt_time = event.getReceiptTime();
+    ros::Time receipt_time = ros::Time::now();
 
     // Extract rover name from the message source
 
@@ -877,7 +877,7 @@ void RoverGUIPlugin::pollRoversTimerEventHandler()
         ekf_subscribers[*i] = nh.subscribe("/"+*i+"/odom/ekf", 10, &RoverGUIPlugin::EKFEventHandler, this);
         gps_subscribers[*i] = nh.subscribe("/"+*i+"/odom/navsat", 10, &RoverGUIPlugin::GPSEventHandler, this);
         gps_nav_solution_subscribers[*i] = nh.subscribe("/"+*i+"/navsol", 10, &RoverGUIPlugin::GPSNavSolutionEventHandler, this);
-        rover_diagnostic_subscribers[*i] = nh.subscribe("/"+*i+"/diagnostics", 10, &RoverGUIPlugin::diagnosticEventHandler, this);
+        rover_diagnostic_subscribers[*i] = nh.subscribe("/"+*i+"/diagnostics", 1, &RoverGUIPlugin::diagnosticEventHandler, this);
 
         RoverStatus rover_status;
         // Build new ui rover list string