Skip to content
Snippets Groups Projects
Commit 98ac397d authored by Bruno Galdos's avatar Bruno Galdos
Browse files

addition of kairosAA

parent c52adbf1
No related branches found
No related tags found
No related merge requests found
Pipeline #383276 canceled
...@@ -29,11 +29,11 @@ class MoveRobotNode(Node): ...@@ -29,11 +29,11 @@ class MoveRobotNode(Node):
#self.publisher_ = self.create_publisher(Twist, '/diff_cont/cmd_vel_unstamped', 10) #for differential robot #self.publisher_ = self.create_publisher(Twist, '/diff_cont/cmd_vel_unstamped', 10) #for differential robot
#self.publisher_ = self.create_publisher(Twist, '/cmd_vel', 10) #normal msg topic #self.publisher_ = self.create_publisher(Twist, '/cmd_vel', 10) #normal msg topic
#self.publisher_ = self.create_publisher(Twist, 'robot/cmd_vel', 10) #for kairos simulation #self.publisher_ = self.create_publisher(Twist, 'robot/cmd_vel', 10) #for kairos simulation
self.publisher_ = self.create_publisher(Twist, 'kairosAB/cmd_vel', 10) #for kairosAB real self.publisher_ = self.create_publisher(Twist, 'kairosAA/cmd_vel', 10) #for kairosAB real
#self.subscription = self.create_subscription(Odometry, '/odom', self.odom_callback, 10) #normal #self.subscription = self.create_subscription(Odometry, '/odom', self.odom_callback, 10) #normal
#self.subscription = self.create_subscription(Odometry, '/diff_cont/odom', self.odom_callback, 10) #differential #self.subscription = self.create_subscription(Odometry, '/diff_cont/odom', self.odom_callback, 10) #differential
self.subscription = self.create_subscription(RigidBodyStamped,'/optitrack_multiplexer_node/rigid_body/kairosAB',self.odom_callback,10) self.subscription = self.create_subscription(RigidBodyStamped,'/optitrack_multiplexer_node/rigid_body/kairosAA',self.odom_callback,10)
#self.subscription = self.create_subscription(Odometry, '/robot/robotnik_base_control/odom', self.odom_callback, 10) #for kairos simulation #self.subscription = self.create_subscription(Odometry, '/robot/robotnik_base_control/odom', self.odom_callback, 10) #for kairos simulation
......
...@@ -17,5 +17,5 @@ source /colcon_ws/install/setup.bash ...@@ -17,5 +17,5 @@ source /colcon_ws/install/setup.bash
#ros2 run my_controller trial_controller_diff_opti #ros2 run my_controller trial_controller_diff_opti
#ros2 run my_controller trial_controller_diff #ros2 run my_controller trial_controller_diff
#ros2 run my_controller trial_controller_backup #ros2 run my_controller trial_controller_backup
#ros2 run my_controller trial_controller_opti ros2 run my_controller trial_controller_opti
ros2 run my_controller node_markers #ros2 run my_controller node_markers
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment