From 5a007f2dad9507b2aa67631f99d60fec2a22f7de Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 10 May 2018 10:19:13 +0200
Subject: [PATCH] =?UTF-8?q?Changed=20the=20sign=20of=20the=20yaw=20top?=
=?UTF-8?q?=C3=ACc=20to=20coincide=20with=20the=20ral=20robot.?=
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---
seat_car_controller/include/seat_car_controller_impl.h | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/seat_car_controller/include/seat_car_controller_impl.h b/seat_car_controller/include/seat_car_controller_impl.h
index 39e32ee..a5cc39e 100644
--- a/seat_car_controller/include/seat_car_controller_impl.h
+++ b/seat_car_controller/include/seat_car_controller_impl.h
@@ -350,6 +350,10 @@ namespace seat_car_controller
twist_msg.linear.x=-((drive_r_l_vel-drive_r_r_vel)*5.5)/2.0;
twist_msg.linear.y=0.0;
twist_msg.linear.z=0.0;
+ twist_msg.angular.x=0.0;
+ twist_msg.angular.y=0.0;
+ twist_msg.angular.z=0.0;
+
this->twist_pub.publish(twist_msg);
servo_angle=-4.0*steer_angle+3.14159/2.0;
@@ -435,7 +439,7 @@ namespace seat_car_controller
std_msgs::Float32 yaw_msg;
this->heading=tf::getYaw(msg->orientation);
- yaw_msg.data=this->heading;
+ yaw_msg.data=-this->heading*180.0/3.14159;
this->yaw_pub.publish(yaw_msg);
}
--
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