Parsing for distance DATA without Space before topic, topic distance renamed to distance_stair

Author: Roman Käslin

src/main.cpp

@@ -44,7 +44,7 @@ int main(int argc , char  **argv)
 
     tcp_client beta(1,"beta",n,"Float64");                                        // Angle on the stairs
     tcp_client stair_parameters(1,"stair_parameters",n,"Float64MultiArray");      // List of parameters: step height, step depth, distance traveled, sensor height, sensor angle
-    tcp_client distance(1,"distance",n,"Float64MultiArray");          		        // Distance to steps (first_right,first_left,last_right,last_left)
+    tcp_client distance(1,"distance_stair",n,"Float64MultiArray");          		        // Distance to steps (first_right,first_left,last_right,last_left)
 
     //MyRIO --> ROS---------------------------------------------------------------
     tcp_client imu(2,"IMU",n,"IMU");

src/tcp_client.cpp

@@ -152,7 +152,7 @@ void tcp_client::parser(std::string s) {
       publish();
         //ROS_INFO("Message has been parsed.");
     } 
-    if ((header=="SRV") && (header2 ==_topic) )
+    if ((header=="SRV") && (header2 == topic) )
     {
   //ROS_INFO("string: %s",s.c_str());
   ros::ServiceClient client = n_.serviceClient<scalevo_msgs::Starter>(header2);