Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Follow feedforward #234

Merged
merged 2 commits into from
Jul 17, 2024
Merged

Follow feedforward #234

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
71bb1eb
Publish follow vel des.
1moule May 27, 2024
df15d63
Merge branch 'master' into follow-feedforward
liyixin135 Jul 16, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions rm_common/include/rm_common/decision/command_sender.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand Down
1 change: 1 addition & 0 deletions rm_msgs/msg/ChassisCmd.msg
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Loading