Closed rbonghi closed 9 years ago
Remove all patches to build kinematic control for unav: Example:
https://github.com/officinerobotiche/ros_serial_bridge/blob/develop/src/serial_controller/ROSMotionController.cpp#L318
motor_ref_long[0] = (long int) ((1.0f / parameter_unicycle.radius_l)*(msg->linear.x + (0.5f*parameter_unicycle.wheelbase * (-msg->angular.z)))*1000); motor_ref_long[1] = (long int) ((1.0f / parameter_unicycle.radius_r)*(msg->linear.x - (0.5f*parameter_unicycle.wheelbase * (-msg->angular.z)))*1000);
Change sign per angular.z!!
@Myzhar
Solved in branch #20
Remove all patches to build kinematic control for unav: Example:
https://github.com/officinerobotiche/ros_serial_bridge/blob/develop/src/serial_controller/ROSMotionController.cpp#L318
Change sign per angular.z!!
@Myzhar