sem/5g_drone_ROS2
1
0
Fork 0
Code Issues 1 Pull Requests 1 Actions Packages Projects Releases Wiki Activity

add log on handle request

Browse Source
This commit is contained in:
Sem van der Hoeven
2023-05-25 12:38:39 +02:00
parent 4532e33c7f
commit 1e0acb8e7a
1 changed files with 2 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/drone_controls/src/PositionChanger.cpp
View File

@@ -170,6 +170,8 @@ public:
// TODO add check_move_direction_allowed results to this calculation // TODO add check_move_direction_allowed results to this calculation
this->current_yaw += (request->angle % 360) * (M_PI / 180.0); // get the angle in radians this->current_yaw += (request->angle % 360) * (M_PI / 180.0); // get the angle in radians
get_x_y_with_rotation(request->front_back, request->left_right, this->current_yaw, &this->current_speed_x, &this->current_speed_y); get_x_y_with_rotation(request->front_back, request->left_right, this->current_yaw, &this->current_speed_x, &this->current_speed_y);
RCLCPP_INFO(this->get_logger(), "Calculated speed x: %f, y: %f", this->current_speed_x, this->current_speed_y);
send_trajectory_message();
response->success = true; response->success = true;
} }