corrects z_current updating
s/normal.z/altitude in commande node
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a373c47484
2 changed files with 5 additions and 5 deletions
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@ -16,13 +16,13 @@
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</node>
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</node>
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<param name="/commande/max_curv" value="0.02" type="double" />
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<param name="/commande/max_curv" value="0.02" type="double" />
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<param name="/commande/plan_vel" value="0.8" type="double" />
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<param name="/commande/plan_vel" value="0.3" type="double" />
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<param name="/commande/z_vel" value="0.8" type="double" />
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<param name="/commande/z_vel" value="0.3" type="double" />
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<param name="/commande/min_number" value="5000" type="int" />
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<param name="/commande/min_number" value="2000" type="int" />
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<param name="/commande/x_dev_min" value="0.1" type="double" />
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<param name="/commande/x_dev_min" value="0.1" type="double" />
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<param name="/commande/y_dev_min" value="0.1" type="double" />
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<param name="/commande/y_dev_min" value="0.1" type="double" />
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<param name="/commande/y_dev_min" value="0.1" type="double" />
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<param name="/commande/y_dev_min" value="0.1" type="double" />
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<param name="/commande/dz_dev_min" value="0.1" type="double" />
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<param name="/commande/dz_dev_min" value="0.05" type="double" />
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<node name="commander" pkg="hand_control" type="commande">
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<node name="commander" pkg="hand_control" type="commande">
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<remap from="/commande/input" to="/estimator/output"/>
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<remap from="/commande/input" to="/estimator/output"/>
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@ -84,7 +84,7 @@ class Run
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if (msg->curvature < max_curv && msg->number > min_number)
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if (msg->curvature < max_curv && msg->number > min_number)
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{
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{
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t_current = msg->header.stamp;
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t_current = msg->header.stamp;
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z_current = msg->normal.z;
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z_current = msg->altitude;
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if (!first_msg)
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if (!first_msg)
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{
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{
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