mirrors/ugv_sdk
1
0
Fork 0
mirror of https://github.com/westonrobot/ugv_sdk synced 2023-04-08 06:32:14 +08:00
Code Issues Packages Projects Releases Wiki Activity

hunter limits: apply changes from c31c4688be46f5a3d4c66ad15d43fa392d93562a in agilexrobotics/ugv_sdk

Browse Source
This commit is contained in:
rdu
2022-07-05 13:06:01 +08:00
parent d8f7278477
commit 1fb2f33f3d
2 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
include/ugv_sdk/details/protocol_v1/robot_limits.hpp
View File

@@ -44,7 +44,7 @@ struct BunkerLimits {
struct HunterV1Limits { struct HunterV1Limits {
static constexpr double max_linear = 1.5; // m/s static constexpr double max_linear = 1.5; // m/s
static constexpr double min_linear = -max_linear; 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 min_angular = -max_angular;
static constexpr double max_lateral = 0.0; static constexpr double max_lateral = 0.0;

4
include/ugv_sdk/details/robot_base/agilex_base.hpp
View File

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