From 64cfad5cb8dcbb17dc9313d2e67b12418ec16ab8 Mon Sep 17 00:00:00 2001
From: Reed Hedges <reed.hedges@adept.com>
Date: Fri, 18 Oct 2013 11:06:41 -0400
Subject: [PATCH] Fixed debug message printed in publish()
---
RosAria.cpp | 11 +++++------
1 file changed, 5 insertions(+), 6 deletions(-)
diff --git a/RosAria.cpp b/RosAria.cpp
index ab5fb9e..52a5ce6 100644
--- a/RosAria.cpp
+++ b/RosAria.cpp
@@ -530,7 +530,7 @@ void RosAriaNode::publish()
pos = robot->getPose();
tf::poseTFToMsg(tf::Transform(tf::createQuaternionFromYaw(pos.getTh()*M_PI/180), tf::Vector3(pos.getX()/1000,
pos.getY()/1000, 0)), position.pose.pose); //Aria returns pose in mm.
- position.twist.twist.linear.x = robot->getVel()/1000; //Aria returns velocity in mm/s.
+ position.twist.twist.linear.x = robot->getVel()/1000.0; //Aria returns velocity in mm/s.
position.twist.twist.linear.y = robot->getLatVel()/1000.0;
position.twist.twist.angular.z = robot->getRotVel()*M_PI/180;
@@ -539,17 +539,16 @@ void RosAriaNode::publish()
position.header.stamp = ros::Time::now();
pose_pub.publish(position);
- ROS_DEBUG("RosAria: publish: (time %f) pose x: %f, y: %f, angle: %f; linear vel x: %f, y: %f; angular vel z: %f",
+ ROS_DEBUG("RosAria: publish: (time %f) pose x: %f, pose y: %f, pose angle: %f; linear vel x: %f, vel y: %f; angular vel z: %f",
position.header.stamp.toSec(),
(double)position.pose.pose.position.x,
(double)position.pose.pose.position.y,
(double)position.pose.pose.orientation.w,
- (double) position.twist.twist.linear.x,
- (double) position.twist.twist.linear.y,
- (double) position.twist.twist.angular.z
+ (double)position.twist.twist.linear.x,
+ (double)position.twist.twist.linear.y,
+ (double)position.twist.twist.angular.z
);
-
// publishing transform odom->base_link
odom_trans.header.stamp = ros::Time::now();
odom_trans.header.frame_id = frame_id_odom;
--
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