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minor update, tested on robot

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This commit is contained in:
Ruixiang Du
2019-09-17 23:09:32 -04:00
parent 2ad6f201d2
commit d3b083b386
2 changed files with 2 additions and 2 deletions
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2
scout_base/src/scout_base_node.cpp
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@@ -22,7 +22,7 @@ int main(int argc, char **argv)
ScoutROSMessenger messenger(&robot, node); ScoutROSMessenger messenger(&robot, node);
std::string scout_can_port; std::string scout_can_port;
private_node.param<std::string>("port_name", scout_can_port, std::string("can1")); private_node.param<std::string>("port_name", scout_can_port, std::string("can0"));
private_node.param<std::string>("odom_frame", messenger.odom_frame_, std::string("odom")); private_node.param<std::string>("odom_frame", messenger.odom_frame_, std::string("odom"));
private_node.param<std::string>("base_frame", messenger.base_frame_, std::string("base_footprint")); private_node.param<std::string>("base_frame", messenger.base_frame_, std::string("base_footprint"));
private_node.param<bool>("simulated_robot", messenger.simulated_robot_, false); private_node.param<bool>("simulated_robot", messenger.simulated_robot_, false);

2
scout_base/src/scout_messenger.cpp
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@@ -37,13 +37,13 @@ void ScoutROSMessenger::TwistCmdCallback(const geometry_msgs::Twist::ConstPtr &m
if (!simulated_robot_) if (!simulated_robot_)
{ {
scout_->SetMotionCommand(msg->linear.x, msg->angular.z); scout_->SetMotionCommand(msg->linear.x, msg->angular.z);
// ROS_INFO("cmd received:%f, %f", msg->linear.x, msg->angular.z);
} }
else else
{ {
std::lock_guard<std::mutex> guard(twist_mutex_); std::lock_guard<std::mutex> guard(twist_mutex_);
current_twist_ = *msg.get(); current_twist_ = *msg.get();
} }
// ROS_INFO("cmd received:%f, %f", msg->linear.x, msg->angular.z);
} }
void ScoutROSMessenger::GetCurrentMotionCmdForSim(double &linear, double &angular) void ScoutROSMessenger::GetCurrentMotionCmdForSim(double &linear, double &angular)