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hunter limits: apply changes from c31c4688be46f5a3d4c66ad15d43fa392d93562a in agilexrobotics/ugv_sdk

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rdu
2022-07-05 13:06:01 +08:00
parent d8f7278477
commit 1fb2f33f3d
2 changed files with 3 additions and 3 deletions
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2
include/ugv_sdk/details/protocol_v1/robot_limits.hpp
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@@ -44,7 +44,7 @@ struct BunkerLimits {
struct HunterV1Limits {
static constexpr double max_linear = 1.5; // m/s
static constexpr double min_linear = -max_linear;
static constexpr double max_angular = 25.5; // degree
static constexpr double max_angular = 0.444; // rad
static constexpr double min_angular = -max_angular;
static constexpr double max_lateral = 0.0;

4
include/ugv_sdk/details/robot_base/agilex_base.hpp
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@@ -85,8 +85,8 @@ class AgilexBase : public RobotCommonInterface {
msg.body.motion_command_msg.steering_angle = steering_angle;
}
std::cout << "Sending motion cmd: " << linear_vel << ", " << angular_vel
<< ", " << lateral_vel << std::endl;
// std::cout << "Sending motion cmd: " << linear_vel << ", " << angular_vel
// << ", " << lateral_vel << std::endl;
// send to can bus
can_frame frame;