From 3bdd9d8000adefcb7df5eaf320ee40cb2c7c8eb3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Mon, 15 May 2023 10:37:16 +0200 Subject: [PATCH] update --- rmp220_teleop/rmp220_teleop.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rmp220_teleop/rmp220_teleop.py b/rmp220_teleop/rmp220_teleop.py index b36279e..86705fc 100644 --- a/rmp220_teleop/rmp220_teleop.py +++ b/rmp220_teleop/rmp220_teleop.py @@ -14,7 +14,7 @@ class TeleopTwistJoy(Node): self.timer = self.create_timer(0.01, self.timer_callback) # 100 Hz self.twist = Twist() self.enable = False - self.vFactor = 1 + self.vFactor = 1 # if compensation is needed. Not needed anymore for bot_mini self.limit = 1 * self.vFactor self.max_vel = 2 * self.vFactor @@ -28,7 +28,7 @@ class TeleopTwistJoy(Node): if self.limit > self.max_vel: self.limit = self.max_vel self.twist.linear.x = self.limit * joy_msg.axes[1] - self.twist.angular.z = self.limit * joy_msg.axes[0] * -2 #* 3.141592 #trying to compensate slower rotational movement? Must find out why! + self.twist.angular.z = self.limit * joy_msg.axes[0] * -1 #* 3.141592 #trying to compensate slower rotational movement? Must find out why! # if joy_msg.buttons[7]: #start # self.enable = True # enable_chassis(self)