modelec/modelec-marcel-ROS
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joy

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This commit is contained in:
acki
2025-12-17 17:36:34 +01:00
parent 93f6c2ad3e
commit 5c49536b3e
2 changed files with 3 additions and 3 deletions
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2
src/modelec_com/include/modelec_com/pcb_odo_interface.hpp
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@@ -56,7 +56,7 @@ namespace Modelec
rclcpp::Subscription<modelec_interfaces::msg::OdometryWaypoints>::SharedPtr odo_add_waypoints_subscriber_;
rclcpp::Subscription<modelec_interfaces::msg::OdometryPos>::SharedPtr odo_set_pos_subscriber_;
rclcpp::Subscription<modelec_interfaces::msg::OdometryPid>::SharedPtr odo_set_pid_subscriber_;
rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr cmd_vel_subscriber_;
rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr joy_subscriber_;
void AddWaypointCallback(const modelec_interfaces::msg::OdometryWaypoint::SharedPtr msg);
void AddWaypointsCallback(const modelec_interfaces::msg::OdometryWaypoints::SharedPtr msg);

4
src/modelec_com/src/pcb_odo_interface.cpp
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@@ -69,8 +69,8 @@ namespace Modelec
SetPIDCallback(msg);
});
cmd_vel_subscriber_ = this->create_subscription<sensor_msgs::msg::Joy>(
"cmd_vel", 30,
joy_subscriber_ = this->create_subscription<sensor_msgs::msg::Joy>(
"joy", 30,
[this](const sensor_msgs::msg::Joy::SharedPtr msg)
{
double forward = msg->axes[1];