From 390c8f10c7856e3595fb9e05089c91789ae72865 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 10 May 2018 15:33:51 +0200
Subject: [PATCH] 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 | 1 +
seat_car_controller/include/seat_car_controller_impl.h | 6 +++---
2 files changed, 4 insertions(+), 3 deletions(-)
diff --git a/seat_car_controller/include/seat_car_controller.h b/seat_car_controller/include/seat_car_controller.h
index 432e632..d867145 100644
--- a/seat_car_controller/include/seat_car_controller.h
+++ b/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>
diff --git a/seat_car_controller/include/seat_car_controller_impl.h b/seat_car_controller/include/seat_car_controller_impl.h
index a5cc39e..6711782 100644
--- a/seat_car_controller/include/seat_car_controller_impl.h
+++ b/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);
}
--
GitLab