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scout_status: fixed motor id not set issue

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This commit is contained in:
Ruixiang Du
2022-01-19 09:13:32 +08:00
parent 6bff3e34b7
commit 0e56789f8f
1 changed files with 9 additions and 3 deletions
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10
scout_base/include/scout_base/scout_messenger.hpp
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@@ -161,8 +161,12 @@ class ScoutMessenger {
lateral_speed = 0; lateral_speed = 0;
} }
double d_x = (linear_speed * std::cos(theta_) - lateral_speed * std::sin(theta_)) * dt; double d_x =
double d_y = (linear_speed * std::sin(theta_) + lateral_speed * std::cos(theta_)) * dt; (linear_speed * std::cos(theta_) - lateral_speed * std::sin(theta_)) *
dt;
double d_y =
(linear_speed * std::sin(theta_) + lateral_speed * std::cos(theta_)) *
dt;
double d_theta = angular_speed * dt; double d_theta = angular_speed * dt;
position_x_ += d_x; position_x_ += d_x;
@@ -235,6 +239,7 @@ class ScoutMessenger {
// actuator_hs_state // actuator_hs_state
uint8_t motor_id = actuator.actuator_hs_state[i].motor_id; uint8_t motor_id = actuator.actuator_hs_state[i].motor_id;
status_msg.actuator_states[motor_id].motor_id = motor_id;
status_msg.actuator_states[motor_id].rpm = status_msg.actuator_states[motor_id].rpm =
actuator.actuator_hs_state[i].rpm; actuator.actuator_hs_state[i].rpm;
status_msg.actuator_states[motor_id].current = status_msg.actuator_states[motor_id].current =
@@ -245,6 +250,7 @@ class ScoutMessenger {
// actuator_ls_state // actuator_ls_state
motor_id = actuator.actuator_ls_state[i].motor_id; motor_id = actuator.actuator_ls_state[i].motor_id;
status_msg.actuator_states[motor_id].motor_id = motor_id;
status_msg.actuator_states[motor_id].driver_voltage = status_msg.actuator_states[motor_id].driver_voltage =
actuator.actuator_ls_state[i].driver_voltage; actuator.actuator_ls_state[i].driver_voltage;
status_msg.actuator_states[motor_id].driver_temperature = status_msg.actuator_states[motor_id].driver_temperature =