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corrects z_current updating

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s/normal.z/altitude
in commande node
This commit is contained in:
Louis-Guillaume DUBOIS 2015-05-12 18:19:47 +02:00
parent 6d91edfe5b
commit a373c47484
2 changed files with 5 additions and 5 deletions
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8
launch/all.launch
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@ -16,13 +16,13 @@
</node> </node>
<param name="/commande/max_curv" value="0.02" type="double" /> <param name="/commande/max_curv" value="0.02" type="double" />
<param name="/commande/plan_vel" value="0.8" type="double" /> <param name="/commande/plan_vel" value="0.3" type="double" />
<param name="/commande/z_vel" value="0.8" type="double" /> <param name="/commande/z_vel" value="0.3" type="double" />
<param name="/commande/min_number" value="5000" type="int" /> <param name="/commande/min_number" value="2000" type="int" />
<param name="/commande/x_dev_min" value="0.1" type="double" /> <param name="/commande/x_dev_min" value="0.1" type="double" />
<param name="/commande/y_dev_min" value="0.1" type="double" /> <param name="/commande/y_dev_min" value="0.1" type="double" />
<param name="/commande/y_dev_min" value="0.1" type="double" /> <param name="/commande/y_dev_min" value="0.1" type="double" />
<param name="/commande/dz_dev_min" value="0.1" type="double" /> <param name="/commande/dz_dev_min" value="0.05" type="double" />
<node name="commander" pkg="hand_control" type="commande"> <node name="commander" pkg="hand_control" type="commande">
<remap from="/commande/input" to="/estimator/output"/> <remap from="/commande/input" to="/estimator/output"/>

2
src/commande.cpp
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@ -84,7 +84,7 @@ class Run
if (msg->curvature < max_curv && msg->number > min_number) if (msg->curvature < max_curv && msg->number > min_number)
{ {
t_current = msg->header.stamp; t_current = msg->header.stamp;
z_current = msg->normal.z; z_current = msg->altitude;
if (!first_msg) if (!first_msg)
{ {