From 1fb2f33f3d2e8af40489296c87a06ff1ff0b4b0f Mon Sep 17 00:00:00 2001 From: rdu Date: Tue, 5 Jul 2022 13:06:01 +0800 Subject: [PATCH] hunter limits: apply changes from c31c4688be46f5a3d4c66ad15d43fa392d93562a in agilexrobotics/ugv_sdk --- include/ugv_sdk/details/protocol_v1/robot_limits.hpp | 2 +- include/ugv_sdk/details/robot_base/agilex_base.hpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/include/ugv_sdk/details/protocol_v1/robot_limits.hpp b/include/ugv_sdk/details/protocol_v1/robot_limits.hpp index 5bbbd58..ac8334a 100644 --- a/include/ugv_sdk/details/protocol_v1/robot_limits.hpp +++ b/include/ugv_sdk/details/protocol_v1/robot_limits.hpp @@ -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; diff --git a/include/ugv_sdk/details/robot_base/agilex_base.hpp b/include/ugv_sdk/details/robot_base/agilex_base.hpp index 9036263..8d41fcd 100644 --- a/include/ugv_sdk/details/robot_base/agilex_base.hpp +++ b/include/ugv_sdk/details/robot_base/agilex_base.hpp @@ -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;