sem/5g_drone_ROS2
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typo

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Sem van der Hoeven
2023-05-25 12:00:27 +02:00
parent f94186c916
commit 54a7636417
1 changed files with 129 additions and 131 deletions
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6
src/drone_controls/src/PositionChanger.cpp
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@@ -67,7 +67,6 @@ public:
RCLCPP_ERROR(this->get_logger(), "Failed to call service to set vehicle control"); RCLCPP_ERROR(this->get_logger(), "Failed to call service to set vehicle control");
} }
} }
}
void send_trajectory_message() void send_trajectory_message()
{ {
this->trajectory_request->x = this->current_speed_x; this->trajectory_request->x = this->current_speed_x;
@@ -91,8 +90,7 @@ void send_trajectory_message()
* @brief checks for every direction is an object is too close and if we can move in that direction. * @brief checks for every direction is an object is too close and if we can move in that direction.
* If the object is too close to the drone, calculate the amount we need to move away from it * If the object is too close to the drone, calculate the amount we need to move away from it
*/ */
void void check_move_direction_allowed()
check_move_direction_allowed()
{ {
this->move_direction_allowed[MOVE_DIRECTION_FRONT] = this->lidar_sensor_values[LIDAR_SENSOR_FR] > MIN_DISTANCE && this->lidar_sensor_values[LIDAR_SENSOR_FL] > MIN_DISTANCE; this->move_direction_allowed[MOVE_DIRECTION_FRONT] = this->lidar_sensor_values[LIDAR_SENSOR_FR] > MIN_DISTANCE && this->lidar_sensor_values[LIDAR_SENSOR_FL] > MIN_DISTANCE;
this->move_direction_allowed[MOVE_DIRECTION_LEFT] = this->lidar_sensor_values[LIDAR_SENSOR_FL] > MIN_DISTANCE && this->lidar_sensor_values[LIDAR_SENSOR_RL] > MIN_DISTANCE; this->move_direction_allowed[MOVE_DIRECTION_LEFT] = this->lidar_sensor_values[LIDAR_SENSOR_FL] > MIN_DISTANCE && this->lidar_sensor_values[LIDAR_SENSOR_RL] > MIN_DISTANCE;
@@ -218,7 +216,7 @@ void wait_for_service(T client)
RCLCPP_INFO(this->get_logger(), "service not available, waiting again..."); RCLCPP_INFO(this->get_logger(), "service not available, waiting again...");
} }
} }
} };
; ;
int main(int argc, char *argv[]) int main(int argc, char *argv[])
{ {