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Sem van der Hoeven
2023-04-24 15:41:11 +00:00
parent 09cda4e1d0
commit 48b5016897
3 changed files with 14 additions and 6 deletions
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6
src/height/src/height_reader.cpp
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@@ -63,18 +63,20 @@ private:
{
auto msg = height::msg::HeightData();
float min = 10000000;
float min = 255;
terabee::DistanceData distance_data = evo_mini->getDistance();
for (size_t i = 0; i < distance_data.size(); i++)
{
msg.heights[i] = distance_data.distance[i];
if (distance_data.distance[i] < min)
if (distance_data.distance[i] < min && distance_data.distance[i] >= 0)
{
min = distance_data.distance[i];
}
}
msg.min_height = min;
publisher_->publish(msg);
RCLCPP_INFO(this->get_logger(),"publishing message with min distance %f",msg.min_height);
}
rclcpp::TimerBase::SharedPtr timer_;