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segwayrmp / segway_rmp

ROS package for interfacing with Segway's RMP{50,100,200,400} series robotic platforms.
http://www.ros.org/wiki/segway_rmp
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Invert_x parameter not functioning properly #1

Closed evanmj closed 12 years ago

evanmj commented 13 years ago

I tested the invert_x and invert_y parameters today. Any combination of true/false for the values seems to change nothing on the actual actions of the segway base.

I was testing primarily in the RMP200 node as to rule out any RMP400 based issues.

I set the default bool values at the top of segway_rmp200.cpp to true, and still no change.

I was able to get the X axis inverted by commenting out the IF statement on line 178.

I also noticed some inconsistencies in the naming that may or may not be related. The parameter name states a Y value, while the code suggests an invert Z value. This might be intentional, but it seemed a bit strange, and worth mentioning just in case.

Low priority on this since I did find a way to invert x in the code.

Thanks.

wjwwood commented 13 years ago

I really don't know why this isn't working as is... Since you have a work around I won't look into atm, but I will troubleshoot it asap.

wjwwood commented 12 years ago

Works in the latest version, closing.