Commit fd45416a authored by muelmarc's avatar muelmarc
Browse files

fixed StudentFollow.launch

parent 80d4fcbc
......@@ -13,7 +13,7 @@
<rosparam command="load" file="$(find d_fall_pps)/param/SafeController.yaml" />
</node>
<node pkg="d_fall_pps" name="FollowControllerService" output="screen" type="FollowControllerService">
<node pkg="d_fall_pps" name="FollowCrazyflieService" output="screen" type="FollowCrazyflieService">
<rosparam command="load" file="$(find d_fall_pps)/param/SafeController.yaml" />
</node>
......
......@@ -195,8 +195,8 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
}
void followCallback(const Setpoint& newSetpoint) {
setpoint[0] = newSetpoint.x-0.1;
setpoint[1] = newSetpoint.y-0.1;
setpoint[0] = newSetpoint.x;
setpoint[1] = newSetpoint.y;
setpoint[2] = newSetpoint.z;
setpoint[3] = newSetpoint.yaw;
}
......@@ -208,7 +208,7 @@ int main(int argc, char* argv[]) {
ros::NodeHandle nodeHandle("~");
loadParameters(nodeHandle);
ros::Subscriber followSubscriber = nodeHandle.subscribe("/3/CircleControllerService/FollowTopic", 1, followCallback);
ros::Subscriber followSubscriber = nodeHandle.subscribe("/3/CircleControllerService/FollowTopic", 5, followCallback);
ros::ServiceServer service = nodeHandle.advertiseService("FollowController", calculateControlOutput);
ROS_INFO("FollowCrazyflieService ready");
......
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