From 34030458cb9be5d4a97dceb93c58bb91807f1647 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Wed, 23 Oct 2013 15:27:58 +0000
Subject: [PATCH] crashing bugs fixed
---
src/safe_cmd_alg_node.cpp | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/src/safe_cmd_alg_node.cpp b/src/safe_cmd_alg_node.cpp
index 30938ba..fced9ff 100644
--- a/src/safe_cmd_alg_node.cpp
+++ b/src/safe_cmd_alg_node.cpp
@@ -73,12 +73,12 @@ void SafeCmdAlgNode::cmd_vel_callback(const geometry_msgs::Twist::ConstPtr& msg)
{
if(Twist_msg_.linear.x < max_vel_front_ && Twist_msg_.linear.x > max_vel_rear_ )
{
- Twist_msg_.linear.x =+ msg->linear.x - last_twist_.linear.x ;
- Twist_msg_.linear.y =+ msg->linear.y - last_twist_.linear.y ;
- Twist_msg_.linear.z =+ msg->linear.z - last_twist_.linear.z ;
- Twist_msg_.angular.x =+ msg->angular.x - last_twist_.angular.x;
- Twist_msg_.angular.y =+ msg->angular.y - last_twist_.angular.y;
- Twist_msg_.angular.z =+ msg->angular.z - last_twist_.angular.z;
+ Twist_msg_.linear.y += (msg->linear.y - last_twist_.linear.y );
+ Twist_msg_.linear.x += (msg->linear.x - last_twist_.linear.x );
+ Twist_msg_.linear.z += (msg->linear.z - last_twist_.linear.z );
+ Twist_msg_.angular.x += (msg->angular.x - last_twist_.angular.x);
+ Twist_msg_.angular.y += (msg->angular.y - last_twist_.angular.y);
+ Twist_msg_.angular.z += (msg->angular.z - last_twist_.angular.z);
}
last_twist_= *msg;
}
--
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