From 7d46e0954e136487519ebaff4854de2363a4daca Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Fri, 25 Aug 2017 00:15:08 +0200
Subject: [PATCH] Changed the sign of the X axis of the gyroscope to make it
coincide with the real robot.
---
darwin_controller/include/darwin_controller_impl.h | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/darwin_controller/include/darwin_controller_impl.h b/darwin_controller/include/darwin_controller_impl.h
index 71e161e..52160aa 100644
--- a/darwin_controller/include/darwin_controller_impl.h
+++ b/darwin_controller/include/darwin_controller_impl.h
@@ -928,7 +928,7 @@ namespace darwin_controller
gyro_x=500.0;
else if(gyro_x<-500.0)
gyro_x=-500.0;
- gyro_data[0]=(int32_t)(gyro_x*1000.0);
+ gyro_data[0]=-(int32_t)(gyro_x*1000.0);
gyro_y=msg->angular_velocity.z*180.0/3.14159;
if(gyro_y>500.0)
gyro_y=500.0;
--
GitLab