seat_car_controller: modified to match last version of odometry node (v3.1...

seat_car_controller: modified to match last version of odometry node (v3.1 amd64 debs): steering_angle type changed from Int16 to UInt8, and imu yaw expected in rads instead of degrees

seat_car_controller/include/seat_car_controller.h

@@ -15,6 +15,7 @@
 #include <ros/node_handle.h>
 #include <std_msgs/Int16.h>
 #include <std_msgs/UInt16.h>
+#include <std_msgs/UInt8.h>
 #include <std_msgs/Float32.h>
 #include <geometry_msgs/Twist.h>
 #include <sensor_msgs/Imu.h>

seat_car_controller/include/seat_car_controller_impl.h

@@ -254,7 +254,7 @@ namespace seat_car_controller
 
       this->yaw_pub = root_nh.advertise<std_msgs::Float32>(this->yaw_topic,1);
       this->twist_pub = root_nh.advertise<geometry_msgs::Twist>(this->twist_topic,1);
-      this->steer_angle_pub = root_nh.advertise<std_msgs::Int16>(this->steering_fb_topic,1);
+      this->steer_angle_pub = root_nh.advertise<std_msgs::UInt8>(this->steering_fb_topic,1);
 
       this->last_cmd_drive=0.0;
       this->last_cmd_steer=0.0;
@@ -272,7 +272,7 @@ namespace seat_car_controller
       static double yaw=0.0;
       static double last_steer_angle=0.0;
       geometry_msgs::Twist twist_msg;
-      std_msgs::Int16 steer_angle_msg;
+      std_msgs::UInt8 steer_angle_msg;
 
       steer_l_pos=this->joints_[0].getPosition();
       steer_r_pos=this->joints_[1].getPosition();
@@ -439,7 +439,7 @@ namespace seat_car_controller
       std_msgs::Float32 yaw_msg;
  
       this->heading=tf::getYaw(msg->orientation);
-      yaw_msg.data=-this->heading*180.0/3.14159;
+      yaw_msg.data=-this->heading; //*180.0/3.14159;
       this->yaw_pub.publish(yaw_msg); 
     }