L1.5/ros2aria
L1.5/ros2aria
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set firmware units

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Signed-off-by: Jakub Delicat <jakub.delicat@pwr.edu.pl>
This commit is contained in:
Jakub Delicat 2024-01-18 17:02:56 +01:00
parent 2534b906d5
commit 664091048d
1 changed files with 4 additions and 4 deletions
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8
src/ros2aria/src/wheels.cpp
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@ -17,10 +17,10 @@ sensor_msgs::msg::JointState Ros2Aria::handleWheels(rclcpp::Time stamp)
wheels.name[0] = "left_wheel_joint"; wheels.name[0] = "left_wheel_joint";
wheels.name[1] = "right_wheel_joint"; wheels.name[1] = "right_wheel_joint";
wheels.position[0] = encoder_to_rad(r->getLeftEncoder()); wheels.position[0] = r->getLeftEncoder();
wheels.position[1] = encoder_to_rad(r->getRightEncoder()); wheels.position[1] = r->getRightEncoder();
wheels.velocity[0] = mm_per_sec_to_rad_per_sec(r->getLeftVel()); wheels.velocity[0] = r->getLeftVel();
wheels.velocity[1] = mm_per_sec_to_rad_per_sec(r->getRightVel()); wheels.velocity[1] = r->getRightVel();
return wheels; return wheels;
} }