ellensohn/rmp220_teleop_backup
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update kinematics, fixed robot orientation

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Björn Ellensohn 2023-05-16 09:42:51 +02:00
parent 3bdd9d8000
commit 7f85974925
1 changed files with 1 additions and 2 deletions
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rmp220_teleop/rmp220_teleop.py
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@ -28,7 +28,7 @@ class TeleopTwistJoy(Node):
if self.limit > self.max_vel: if self.limit > self.max_vel:
self.limit = self.max_vel self.limit = self.max_vel
self.twist.linear.x = self.limit * joy_msg.axes[1] 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 # if joy_msg.buttons[7]: #start
# self.enable = True # self.enable = True
# enable_chassis(self) # enable_chassis(self)
@ -39,7 +39,6 @@ class TeleopTwistJoy(Node):
def timer_callback(self): def timer_callback(self):
self.cmd_vel_pub.publish(self.twist) self.cmd_vel_pub.publish(self.twist)
# def enable_chassis(node): # def enable_chassis(node):
# chassis_enable = node.create_client(RosSetChassisEnableCmd, '/set_chassis_enable') # chassis_enable = node.create_client(RosSetChassisEnableCmd, '/set_chassis_enable')
# req = RosSetChassisEnableCmd.Request() # req = RosSetChassisEnableCmd.Request()