From 0095f589ebc520e151114c2e58466d637930e283 Mon Sep 17 00:00:00 2001
From: Rescue Group <rescue@rescuelap3.(none)>
Date: Thu, 8 Aug 2013 16:51:10 +1000
Subject: [PATCH] MM: Copied 12.10 changes from cloud_sensor

---
 crosbot_explore/src/explorer.cpp                            | 2 ++
 crosbot_fastslam/include/crosbot_fastslam/serialization.hpp | 2 +-
 crosbot_fastslam/src/fastslam.cpp                           | 2 +-
 crosbot_ui/src/joystick.cpp                                 | 2 ++
 4 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/crosbot_explore/src/explorer.cpp b/crosbot_explore/src/explorer.cpp
index 2d58e5d..78833c4 100644
--- a/crosbot_explore/src/explorer.cpp
+++ b/crosbot_explore/src/explorer.cpp
@@ -8,6 +8,8 @@
 #include <crosbot_explore/explorer.hpp>
 #include <crosbot/utils.hpp>
 
+#include <unistd.h>
+
 namespace crosbot {
 
 #define DEFAULT_SLEEP_TIME		50000
diff --git a/crosbot_fastslam/include/crosbot_fastslam/serialization.hpp b/crosbot_fastslam/include/crosbot_fastslam/serialization.hpp
index 32e1543..a4b2b3f 100644
--- a/crosbot_fastslam/include/crosbot_fastslam/serialization.hpp
+++ b/crosbot_fastslam/include/crosbot_fastslam/serialization.hpp
@@ -167,7 +167,7 @@ public:
 		uint32_t nonNulls = 0;
 		rval += serUInt32.read(nonNulls, stream);
 
-		for (uint32_t i = 0; i < nonNulls; i++) {
+		for (uint32_t n = 0; n < nonNulls; n++) {
 			uint32_t i, j;
 			rval += serUInt32.read(i, stream);
 			rval += serUInt32.read(j, stream);
diff --git a/crosbot_fastslam/src/fastslam.cpp b/crosbot_fastslam/src/fastslam.cpp
index 840fd63..0874e55 100644
--- a/crosbot_fastslam/src/fastslam.cpp
+++ b/crosbot_fastslam/src/fastslam.cpp
@@ -78,7 +78,7 @@ void FastSLAMMap::configure(ConfigElementPtr config) {
 		parameters.searchPose = searchConfig->getParamAsPose("pose", parameters.searchPose);
 	}
 
-	parameters.addMotionCopy = searchConfig->getParamAsBool("add_motion_copy", parameters.addMotionCopy);
+	parameters.addMotionCopy = config->getParamAsBool("add_motion_copy", parameters.addMotionCopy);
 }
 
 void FastSLAMMap::start() {
diff --git a/crosbot_ui/src/joystick.cpp b/crosbot_ui/src/joystick.cpp
index 581caa9..f90e41f 100644
--- a/crosbot_ui/src/joystick.cpp
+++ b/crosbot_ui/src/joystick.cpp
@@ -11,6 +11,8 @@
 #include <linux/joystick.h>
 #include <fcntl.h>
 #include <sys/ioctl.h>
+#include <unistd.h>
+#include <stdio.h>
 
 namespace crosbot {
 
-- 
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