sem/5g_drone_ROS2
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fixes

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Sem van der Hoeven
2023-05-25 12:28:08 +02:00
parent 8700014e11
commit 952620c0a8
1 changed files with 15 additions and 15 deletions
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30
src/drone_controls/src/PositionChanger.cpp
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@@ -94,15 +94,15 @@ public:
this->trajectory_request->yaw = this->current_yaw; this->trajectory_request->yaw = this->current_yaw;
auto trajectory_response = this->trajectory_client->async_send_request(this->trajectory_requeststd::bind(&PositionChanger::trajectory_message_callback, this, std::placeholders::_1)); auto trajectory_response = this->trajectory_client->async_send_request(this->trajectory_requeststd::bind(&PositionChanger::trajectory_message_callback, this, std::placeholders::_1));
if (rclcpp::spin_until_future_complete(this, trajectory_response) == // if (rclcpp::spin_until_future_complete(this, trajectory_response) ==
rclcpp::FutureReturnCode::SUCCESS) // rclcpp::FutureReturnCode::SUCCESS)
{ // {
RCLCPP_INFO(this->get_logger(), "Trajectory set result: %d", trajectory_response.get()->success); // RCLCPP_INFO(this->get_logger(), "Trajectory set result: %d", trajectory_response.get()->success);
} // }
else // else
{ // {
RCLCPP_ERROR(this->get_logger(), "Failed to call service to set trajectory"); // RCLCPP_ERROR(this->get_logger(), "Failed to call service to set trajectory");
} // }
} }
/** /**
@@ -215,10 +215,10 @@ private:
float lidar_sensor_values[4]; // last distance measured by the lidar sensors float lidar_sensor_values[4]; // last distance measured by the lidar sensors
float lidar_imu_readings[4]; // last imu readings from the lidar sensors float lidar_imu_readings[4]; // last imu readings from the lidar sensors
float currrent_yaw = 0; // in radians float current_yaw = 0; // in radians
float current_x_speed = 0; float current_speed_x = 0;
float current_y_speed = 0; float current_speed_y = 0;
float current_z_speed = 0; float current_speed_z = 0;
bool move_direction_allowed[4] = {true}; bool move_direction_allowed[4] = {true};
float collision_prevention_weights[4] = {0}; float collision_prevention_weights[4] = {0};
@@ -230,13 +230,13 @@ private:
if (!rclcpp::ok()) if (!rclcpp::ok())
{ {
RCLCPP_ERROR(this->get_logger(), "Interrupted while waiting for the service. Exiting."); RCLCPP_ERROR(this->get_logger(), "Interrupted while waiting for the service. Exiting.");
return 0; return;
} }
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[])
{ {
rclcpp::init(argc, argv); rclcpp::init(argc, argv);