From 74d2c7e894a3ebabbfbb0b67599590a6df73d643 Mon Sep 17 00:00:00 2001
From: wangzheqie <wangzheqie@qq.com>
Date: Thu, 22 Apr 2021 20:21:17 +0800
Subject: [PATCH] change set motion command function

---
 include/ugv_sdk/ranger_base.hpp | 3 ++-
 src/ranger_base.cpp             | 9 +++++----
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/include/ugv_sdk/ranger_base.hpp b/include/ugv_sdk/ranger_base.hpp
index c655c67..b46a211 100644
--- a/include/ugv_sdk/ranger_base.hpp
+++ b/include/ugv_sdk/ranger_base.hpp
@@ -66,7 +66,8 @@ class RangerBase : public AgilexBase {
   void Connect(std::string dev_name) override;
 
   // robot control
-  void SetMotionCommand(double linear_vel, double angular_vel);
+  void SetMotionCommand(double linear_vel, double steer_angle,
+                        double lateral_vel = 0.0, double angular_vel = 0.0);
   void SetLightCommand(const RangerLightCmd &cmd);
   void SetMotionMode(uint8_t mode);
 
diff --git a/src/ranger_base.cpp b/src/ranger_base.cpp
index 230a20d..16abbb5 100644
--- a/src/ranger_base.cpp
+++ b/src/ranger_base.cpp
@@ -29,8 +29,10 @@ void RangerBase::Connect(std::string dev_name) {
                                           std::placeholders::_1));
 }
 
-void RangerBase::SetMotionCommand(double linear_vel, double angular_vel) {
-  AgilexBase::SetMotionCommand(linear_vel, 0.0, 0.0, angular_vel/10.0);
+void RangerBase::SetMotionCommand(double linear_vel, double steer_angle,
+                                  double lateral_vel, double angular_vel) {
+  AgilexBase::SetMotionCommand(linear_vel, angular_vel, lateral_vel,
+                               steer_angle / 10.0);
 }
 
 void RangerBase::SetLightCommand(const RangerLightCmd &cmd) {
@@ -40,8 +42,7 @@ void RangerBase::SetLightCommand(const RangerLightCmd &cmd) {
   }
 }
 
-void RangerBase::SetMotionMode(uint8_t mode)
-{
+void RangerBase::SetMotionMode(uint8_t mode) {
   AgilexBase::SetMotionMode(mode);
 }