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Commit 1a8828b1 authored by Joan Perez Ibarz's avatar Joan Perez Ibarz
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[iri_people_follower]

  - alpha parameter for target update

[iri_no_collision]
  - stop segway when action cancelling
parent ca980cab
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......@@ -89,7 +89,7 @@ void SegwayRmp200DriverNode::cmd_platform_callback(const geometry_msgs::Twist::C
{
double vT = msg->linear.x;//sqrt(msg->linear.x*msg->linear.x + msg->linear.y*msg->linear.y);
double vR = msg->angular.z;
ROS_DEBUG("New Command Received: vT=%f vR=%f", vT, vR);
ROS_INFO("New Command Received: vT=%f vR=%f", vT, vR);
//request platform movement
this->driver_.move_platform(vT, vR);
......
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