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Bruno Galdos Huaranca
controller_docker
Commits
2da3495d
Commit
2da3495d
authored
Mar 19, 2024
by
Bruno Galdos Huaranca
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Update trial_controller_backup.py
parent
c52ef601
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Pipeline
#375987
failed
Mar 19, 2024
Stage: build
Stage: registry_push
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colcon_ws/src/my_controller/my_controller/trial_controller_backup.py
+2
-2
2 additions, 2 deletions
...rc/my_controller/my_controller/trial_controller_backup.py
with
2 additions
and
2 deletions
colcon_ws/src/my_controller/my_controller/trial_controller_backup.py
+
2
−
2
View file @
2da3495d
...
@@ -44,9 +44,9 @@ class MoveRobotNode(Node):
...
@@ -44,9 +44,9 @@ class MoveRobotNode(Node):
self
.
current_pose
[
1
]
=
-
msg
.
rigid_body
.
pose
.
position
.
x
self
.
current_pose
[
1
]
=
-
msg
.
rigid_body
.
pose
.
position
.
x
orientation_q
=
msg
.
rigid_body
.
pose
.
orientation
orientation_q
=
msg
.
rigid_body
.
pose
.
orientation
r
=
R
.
from_quat
([
orientation_q
.
q_x
,
orientation_q
.
q_y
,
orientation_q
.
q_z
,
orientation_q
.
q_w
])
r
=
R
.
from_quat
([
orientation_q
.
q_x
,
orientation_q
.
q_y
,
orientation_q
.
q_z
,
orientation_q
.
q_w
])
_
,
_
,
yaw
=
r
.
as_euler
(
'
XYZ
'
)
_
,
_
,
roll
=
r
.
as_euler
(
'
XYZ
'
)
self
.
current_pose
[
2
]
=
yaw
self
.
current_pose
[
2
]
=
roll
#function for moving the robot
#function for moving the robot
def
move_robot
(
self
,
goal_pose
,
velocity
):
def
move_robot
(
self
,
goal_pose
,
velocity
):
...
...
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