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add check for NAN

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Sem van der Hoeven
2023-05-15 15:41:48 +02:00
parent 7d316ce740
commit d8305499ab
1 changed files with 12 additions and 0 deletions
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12
src/test_controls/test_controls/test_controller.py
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@@ -81,10 +81,16 @@ class TestController(Node):
self.traj_req.yaw = angle self.traj_req.yaw = angle
if (x != NAN): if (x != NAN):
self.traj_req.x = x self.traj_req.x = x
else:
self.traj_req.x = 0.0
if (y != NAN): if (y != NAN):
self.traj_req.y = y self.traj_req.y = y
else:
self.traj_req.y = 0.0
if (z != NAN): if (z != NAN):
self.traj_req.z = z self.traj_req.z = z
else:
self.traj_req.z = 0.0
self.get_logger().info('set request to %f %f %f %f' % (x, y, z, angle)) self.get_logger().info('set request to %f %f %f %f' % (x, y, z, angle))
self.future = self.traj_cli.call_async(self.traj_req) self.future = self.traj_cli.call_async(self.traj_req)
rclpy.spin_until_future_complete(self, self.future) rclpy.spin_until_future_complete(self, self.future)
@@ -97,10 +103,16 @@ class TestController(Node):
self.traj_req.yaw = angle self.traj_req.yaw = angle
if (x != NAN): if (x != NAN):
self.traj_req.x = x self.traj_req.x = x
else:
self.traj_req.x = 0.0
if (y != NAN): if (y != NAN):
self.traj_req.y = y self.traj_req.y = y
else:
self.traj_req.y = 0.0
if (z != NAN): if (z != NAN):
self.traj_req.z = z self.traj_req.z = z
else:
self.traj_req.z = 0.0
self.get_logger().info('set request to %f %f %f %f' % (x, y, z, angle)) self.get_logger().info('set request to %f %f %f %f' % (x, y, z, angle))
self.future = self.traj_cli.call_async(self.traj_req) self.future = self.traj_cli.call_async(self.traj_req)
rclpy.spin_until_future_complete(self, self.future) rclpy.spin_until_future_complete(self, self.future)