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change sending to floats

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Sem van der Hoeven
2023-05-03 15:38:45 +02:00
parent c88e82d42d
commit 741fa5b096
1 changed files with 15 additions and 8 deletions
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23
src/test_controls/test_controls/test_controller.py
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@@ -45,22 +45,28 @@ class TestController(Node):
# self.get_logger().info('pressed ' + char)
if char == 'w':
self.get_logger().info('forward')
self.send_request(pitch=-10, yaw=0,roll=0, thrust=0)
self.send_request(pitch=-10.0, yaw=0.0,
roll=0.0, thrust=0.0)
if char == 's':
self.get_logger().info('backward')
self.send_request(pitch=10, yaw=0,roll=0, thrust=0)
self.send_request(pitch=10.0, yaw=0.0,
roll=0.0, thrust=0.0)
if char == 'a':
self.get_logger().info('left')
self.send_request(pitch=0, yaw=0,roll=-10, thrust=0)
self.send_request(pitch=0.0, yaw=0.0,
roll=-10.0, thrust=0.0)
if char == 'd':
self.get_logger().info('right')
self.send_request(pitch=0, yaw=0,roll=10, thrust=0)
self.send_request(pitch=0.0, yaw=0.0,
roll=10.0, thrust=0.0)
if char == 'q':
self.get_logger().info('rotate left')
self.send_request(pitch=0, yaw=-10,roll=0, thrust=0)
self.send_request(pitch=0.0, yaw=-10.0,
roll=0.0, thrust=0.0)
if char == 'e':
self.get_logger().info('rotate right')
self.send_request(pitch=0, yaw=10,roll=0, thrust=0)
self.send_request(pitch=0.0, yaw=10.0,
roll=0.0, thrust=0.0)
else:
try:
# known keys like spacebar, ctrl
@@ -73,10 +79,11 @@ class TestController(Node):
# self.get_logger().info('pressed {} ({})'.format(name, vk))
if vk == 32:
self.get_logger().info('up')
self.send_request(pitch=0, yaw=0,roll=0, thrust=0.1)
self.send_request(pitch=0.0, yaw=0.0, roll=0.0, thrust=0.1)
if vk == 65505:
self.get_logger().info('down')
self.send_request(pitch=0, yaw=0,roll=0, thrust=-0.1)
self.send_request(pitch=0.0, yaw=0.0,
roll=0.0, thrust=-0.1)
except Exception as e:
self.get_logger().error(str(e))