From e4c0db455328efadf434b771869b5b4e7799db7c Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Wed, 10 May 2023 10:11:43 +0200 Subject: [PATCH] the fuck --- src/object_detection/src/multiflex_reader.cpp | 11 ++++++----- src/test_controls/test_controls/test_controller.py | 2 +- 2 files changed, 7 insertions(+), 6 deletions(-) diff --git a/src/object_detection/src/multiflex_reader.cpp b/src/object_detection/src/multiflex_reader.cpp index 83528502..272c926f 100644 --- a/src/object_detection/src/multiflex_reader.cpp +++ b/src/object_detection/src/multiflex_reader.cpp @@ -1,4 +1,4 @@ -#include +\#include #include "rclcpp/rclcpp.hpp" #include "object_detection/msg/multiflex_reading.hpp" @@ -38,9 +38,9 @@ public: return; } - if (!multiflex->configureNumberOfSensors(0x3f)) // check if all 6 distance sensors work + if (!multiflex->configureNumberOfSensors(0x1F)) // check if all 6 distance sensors work { - RCLCPP_ERROR(this->get_logger(), "Failed to set the number of sensors to 6!"); + RCLCPP_ERROR(this->get_logger(), "Failed to set the number of sensors to 5!"); return; } @@ -72,11 +72,12 @@ private: auto msg = object_detection::msg::MultiflexReading(); for (size_t i = 0; i < data.size(); i++) { - msg.distance_data[i] = data.distance[i]; + RCLCPP_INFO(this->get_logger(), "distance: %f", data.distance[i]); +// msg.distance_data[i] = data.distance[i]; } // publish message - publisher_->publish(msg); +// publisher_->publish(msg); } }; diff --git a/src/test_controls/test_controls/test_controller.py b/src/test_controls/test_controls/test_controller.py index b6c38fba..312780bb 100644 --- a/src/test_controls/test_controls/test_controller.py +++ b/src/test_controls/test_controls/test_controller.py @@ -80,7 +80,7 @@ class TestController(Node): if key == 'f': self.get_logger().info('up a little') self.send_request(pitch=0.0, yaw=0.0, - roll=0.0, thrust=-0.01) + roll=0.0, thrust=0.01) if key == 'n': self.get_logger().info('stop') self.send_request(pitch=0.0, yaw=0.0,