ellensohn/cps_rmp220_support
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Your Name 2025-01-15 13:58:13 +01:00
parent ec27a88e2c
commit c314bb90a2
1 changed files with 10 additions and 1 deletions
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11
nodes/odom_publisher.cpp
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@ -82,4 +82,13 @@ int main(int argc, char** argv) {
// Set the velocity // Set the velocity
odom.child_frame_id = "base_link"; odom.child_frame_id = "base_link";
odom.twist.twist odom.twist.twist.linear.x = vx;
odom.twist.twist.linear.y = 0.0; // No lateral velocity
odom.twist.twist.angular.z = vth;
odom_pub.publish(odom);
last_time = current_time;
r.sleep();
}
}