From 664091048d6fa94e1930c1f695fe0933f0b6cde7 Mon Sep 17 00:00:00 2001 From: Jakub Delicat Date: Thu, 18 Jan 2024 17:02:56 +0100 Subject: [PATCH] set firmware units Signed-off-by: Jakub Delicat --- src/ros2aria/src/wheels.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/ros2aria/src/wheels.cpp b/src/ros2aria/src/wheels.cpp index b181295..5862eaf 100644 --- a/src/ros2aria/src/wheels.cpp +++ b/src/ros2aria/src/wheels.cpp @@ -17,10 +17,10 @@ sensor_msgs::msg::JointState Ros2Aria::handleWheels(rclcpp::Time stamp) wheels.name[0] = "left_wheel_joint"; wheels.name[1] = "right_wheel_joint"; - wheels.position[0] = encoder_to_rad(r->getLeftEncoder()); - wheels.position[1] = encoder_to_rad(r->getRightEncoder()); - wheels.velocity[0] = mm_per_sec_to_rad_per_sec(r->getLeftVel()); - wheels.velocity[1] = mm_per_sec_to_rad_per_sec(r->getRightVel()); + wheels.position[0] = r->getLeftEncoder(); + wheels.position[1] = r->getRightEncoder(); + wheels.velocity[0] = r->getLeftVel(); + wheels.velocity[1] = r->getRightVel(); return wheels; }