Changed pose to cmd_pose to show command intent.

Author: kleinma

src/stageros.cpp

@@ -62,7 +62,7 @@
 #define BASE_SCAN "base_scan"
 #define BASE_POSE_GROUND_TRUTH "base_pose_ground_truth"
 #define CMD_VEL "cmd_vel"
-#define POSE "pose"
+#define CMD_POSE "cmd_pose"
 
 // Our node
 class StageNode
@@ -98,7 +98,7 @@ class StageNode
         std::vector<ros::Publisher> laser_pubs; //multiple lasers
 
         ros::Subscriber cmdvel_sub; //one cmd_vel subscriber
-        ros::Subscriber pose_sub; //one pos subscriber
+        ros::Subscriber cmdpose_sub; //one pos subscriber
     };
 
     std::vector<StageRobot const *> robotmodels_;
@@ -165,7 +165,7 @@ class StageNode
     void cmdvelReceived(int idx, const boost::shared_ptr<geometry_msgs::Twist const>& msg);
 
     // Message callback for a Pose2D message, which sets pose.
-    void poseReceived(int idx, const boost::shared_ptr<geometry_msgs::Pose2D const>& msg);
+    void cmdposeReceived(int idx, const boost::shared_ptr<geometry_msgs::Pose2D const>& msg);
 
     // Service callback for soft reset
     bool cb_reset_srv(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
@@ -273,7 +273,7 @@ StageNode::cmdvelReceived(int idx, const boost::shared_ptr<geometry_msgs::Twist
 }
 
 void
-StageNode::poseReceived(int idx, const boost::shared_ptr<geometry_msgs::Pose2D const>& msg)
+StageNode::cmdposeReceived(int idx, const boost::shared_ptr<geometry_msgs::Pose2D const>& msg)
 {
   boost::mutex::scoped_lock lock(msg_lock);
   Stg::Pose pose;
@@ -372,7 +372,7 @@ StageNode::SubscribeModels()
         new_robot->odom_pub = n_.advertise<nav_msgs::Odometry>(mapName(ODOM, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10);
         new_robot->ground_truth_pub = n_.advertise<nav_msgs::Odometry>(mapName(BASE_POSE_GROUND_TRUTH, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10);
         new_robot->cmdvel_sub = n_.subscribe<geometry_msgs::Twist>(mapName(CMD_VEL, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10, boost::bind(&StageNode::cmdvelReceived, this, r, _1));
-        new_robot->pose_sub = n_.subscribe<geometry_msgs::Pose2D>(mapName(POSE, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10, boost::bind(&StageNode::poseReceived, this, r, _1));
+        new_robot->cmdpose_sub = n_.subscribe<geometry_msgs::Pose2D>(mapName(CMD_POSE, r, static_cast<Stg::Model*>(new_robot->positionmodel)), 10, boost::bind(&StageNode::cmdposeReceived, this, r, _1));
 
         for (size_t s = 0;  s < new_robot->lasermodels.size(); ++s)
         {
@@ -753,7 +753,7 @@ StageNode::WorldCallback()
 int 
 main(int argc, char** argv)
 { 
-    ROS_INFO_STREAM("Custom stage_ros by MAK.");
+    ROS_INFO_STREAM("Command robot pose programmatically by publishing a geometry_msgs/Pose2D to /pose (single robot) or /robot_#/pose (multiple robots). -MAK");
 
     if( argc < 2 )
     {