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add extra print in service receive:

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Sem van der Hoeven
2023-05-03 15:45:18 +02:00
parent 741fa5b096
commit 5f90c53128
2 changed files with 4 additions and 3 deletions
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3
src/px4_connection/src/px4_controller.cpp
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@@ -100,6 +100,7 @@ private:
last_thrust = 0; last_thrust = 0;
} }
RCLCPP_INFO(this->get_logger(), "got values: yaw:%f pitch:%f roll:%f thrust:%f", request->yaw, request->pitch, request->roll, request->thrust);
RCLCPP_INFO(this->get_logger(), "New setpoint: yaw:%f pitch:%f roll:%f thrust:%f", last_setpoint[0], last_setpoint[1], last_setpoint[2], last_thrust); RCLCPP_INFO(this->get_logger(), "New setpoint: yaw:%f pitch:%f roll:%f thrust:%f", last_setpoint[0], last_setpoint[1], last_setpoint[2], last_thrust);
response->status = 0; response->status = 0;
@@ -183,7 +184,7 @@ private:
calculate_quaternion(q, last_setpoint[0], last_setpoint[1], last_setpoint[2]); calculate_quaternion(q, last_setpoint[0], last_setpoint[1], last_setpoint[2]);
RCLCPP_INFO(this->get_logger(), "yaw:%f pitch:%f roll:%f thrust:%f", q.at(0), q.at(1), q.at(2), last_thrust); // RCLCPP_INFO(this->get_logger(), "yaw:%f pitch:%f roll:%f thrust:%f", q.at(0), q.at(1), q.at(2), last_thrust);
// } // }
// else // else
// { // {

4
src/test_controls/test_controls/test_controller.py
View File

@@ -79,11 +79,11 @@ class TestController(Node):
# self.get_logger().info('pressed {} ({})'.format(name, vk)) # self.get_logger().info('pressed {} ({})'.format(name, vk))
if vk == 32: if vk == 32:
self.get_logger().info('up') self.get_logger().info('up')
self.send_request(pitch=0.0, yaw=0.0, roll=0.0, thrust=0.1) self.send_request(pitch=0.0, yaw=0.0, roll=0.0, thrust=0.05)
if vk == 65505: if vk == 65505:
self.get_logger().info('down') self.get_logger().info('down')
self.send_request(pitch=0.0, yaw=0.0, self.send_request(pitch=0.0, yaw=0.0,
roll=0.0, thrust=-0.1) roll=0.0, thrust=-0.05)
except Exception as e: except Exception as e:
self.get_logger().error(str(e)) self.get_logger().error(str(e))