Merge branch 'rm-controls:master' into master

rm-controls · Jul 17, 2024 · 3cb79ef · 3cb79ef
2 parents d306a82 + dba1ee0
commit 3cb79ef
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diff --git a/rm_common/include/rm_common/decision/command_sender.h b/rm_common/include/rm_common/decision/command_sender.h
@@ -263,6 +263,10 @@ class ChassisCommandSender : public TimeStampCommandSenderBase<rm_msgs::ChassisC
   {
     power_limit_->setRefereeStatus(status);
   }
+  void setFollowVelDes(double follow_vel_des)
+  {
+    msg_.follow_vel_des = follow_vel_des;
+  }
   void sendChassisCommand(const ros::Time& time, bool is_gyro)
   {
     power_limit_->setLimitPower(msg_, is_gyro);

diff --git a/rm_msgs/msg/ChassisCmd.msg b/rm_msgs/msg/ChassisCmd.msg
@@ -7,6 +7,7 @@ uint8 FALLEN = 4
 uint8 mode
 geometry_msgs/Accel accel
 float64 power_limit
+float64 follow_vel_des
 string follow_source_frame
 string command_source_frame
 time stamp