L1.5/ros2aria
L1.5/ros2aria
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basic cmd_vel

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This commit is contained in:
Wojciech Kwolek 2021-03-25 11:31:44 +00:00
parent 95f81b71c5
commit 50767ebc27
1 changed files with 10 additions and 0 deletions
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10
src/ros2aria/src/ros2aria.cpp
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@ -49,6 +49,16 @@ private:
void cmd_vel_callback(const geometry_msgs::msg::Twist::SharedPtr msg) const void cmd_vel_callback(const geometry_msgs::msg::Twist::SharedPtr msg) const
{ {
RCLCPP_INFO(this->get_logger(), "cmd_vel: %f", msg->linear.x); RCLCPP_INFO(this->get_logger(), "cmd_vel: %f", msg->linear.x);
float x, y, z;
x = msg->linear.x;
y = msg->linear.y;
z = msg->angular.z;
this->robot->lock();
this->robot->setVel(x * 1e3);
if (robot->hasLatVel())
robot->setLatVel(y * 1e3);
robot->setRotVel(z * 180 / M_PI);
robot->unlock();
} }
rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_; rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_;