Commit af138557 authored by roangel's avatar roangel
Browse files

fixed some bug with setpoint in safe controller

parent 1a3f0614
......@@ -46,7 +46,7 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
DBChangedSubscriber = nodeHandle.subscribe("/my_GUI/DBChanged", 1, &MainWindow::DBChangedCallback, this);
ros::NodeHandle my_nodeHandle("~");
controllerSetpointPublisher = nodeHandle.advertise<Setpoint>("ControllerSetpoint", 1);
controllerSetpointPublisher = my_nodeHandle.advertise<Setpoint>("ControllerSetpoint", 1);
customYAMLloadedPublisher = my_nodeHandle.advertise<std_msgs::Int32>("customYAMLloaded", 1);
safeYAMLloadedPublisher = my_nodeHandle.advertise<std_msgs::Int32>("safeYAMLloaded", 1);
......
......@@ -18,7 +18,7 @@ estimatorMatrix: [-22.3384, 0.9106] #only for velocity calculation
defaultSetpoint: [0.0, 0.0, 0.3, 0.0]
#take off and landing parameters (in meters and seconds)
takeOffDistance : 1
landingDistance : 0.15
takeOffDistance : 0.7
landingDistance : 0.1
durationTakeOff : 3
durationLanding : 3
......@@ -93,7 +93,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
//Tip: create functions that you call here to keep you code cleaner
ROS_INFO("custom controller loop");
......
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