From 7f85974925d1e4ca277ad36c871c90954cbcf930 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Tue, 16 May 2023 09:42:51 +0200 Subject: [PATCH] update kinematics, fixed robot orientation --- rmp220_teleop/rmp220_teleop.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/rmp220_teleop/rmp220_teleop.py b/rmp220_teleop/rmp220_teleop.py index 86705fc..013acfe 100644 --- a/rmp220_teleop/rmp220_teleop.py +++ b/rmp220_teleop/rmp220_teleop.py @@ -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] * -1 #* 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) @@ -39,7 +39,6 @@ class TeleopTwistJoy(Node): def timer_callback(self): self.cmd_vel_pub.publish(self.twist) - # def enable_chassis(node): # chassis_enable = node.create_client(RosSetChassisEnableCmd, '/set_chassis_enable') # req = RosSetChassisEnableCmd.Request()