From 257787eb1b385d1cee0d4f3c6cdaff39352c1385 Mon Sep 17 00:00:00 2001 From: Ruixiang Du Date: Wed, 14 Jul 2021 09:38:25 +0800 Subject: [PATCH] updated tracer interface --- .../ugv_sdk/details/interface/tracer_interface.hpp | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) diff --git a/include/ugv_sdk/details/interface/tracer_interface.hpp b/include/ugv_sdk/details/interface/tracer_interface.hpp index ee6169a..debf6ca 100644 --- a/include/ugv_sdk/details/interface/tracer_interface.hpp +++ b/include/ugv_sdk/details/interface/tracer_interface.hpp @@ -21,14 +21,12 @@ struct TracerState { MotionStateMessage motion_state; LightStateMessage light_state; - // Is this still needed? - RcStateMessage rc_state; - - ActuatorHSStateMessage actuator_hs_state[2]; - ActuatorLSStateMessage actuator_ls_state[2]; - - // sensor data - OdometryMessage odometry; + // actuator state + // - for v2 robots only + ActuatorHSStateMessage actuator_hs_state[4]; + ActuatorLSStateMessage actuator_ls_state[4]; + // - for v1 robots only + ActuatorStateMessageV1 actuator_state[4]; }; struct TracerInterface {