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Commit 8078bebe authored by Johannes Mey's avatar Johannes Mey
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working demo trajectory

parent f61d85fd
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...@@ -17,7 +17,7 @@ void testTrajectoryUpdate(const ros::NodeHandle& n) { ...@@ -17,7 +17,7 @@ void testTrajectoryUpdate(const ros::NodeHandle& n) {
ROS_INFO_STREAM("TRAJECTORY UPDATE TEST: Sending simple two-point trajectory to planner."); ROS_INFO_STREAM("TRAJECTORY UPDATE TEST: Sending simple two-point trajectory to planner.");
plan::Trajectory trajectory{}; plan::Trajectory trajectory{};
trajectory.set_loop(true); trajectory.set_loop(false);
plan::Trajectory_Pose* pose = trajectory.add_pose(); plan::Trajectory_Pose* pose = trajectory.add_pose();
pose->set_mode(plan::Trajectory_PlanningMode_FLUID); pose->set_mode(plan::Trajectory_PlanningMode_FLUID);
...@@ -26,13 +26,13 @@ void testTrajectoryUpdate(const ros::NodeHandle& n) { ...@@ -26,13 +26,13 @@ void testTrajectoryUpdate(const ros::NodeHandle& n) {
pose->mutable_orientation()->set_y(0.7071067811865476); pose->mutable_orientation()->set_y(0.7071067811865476);
pose->mutable_orientation()->set_z(0); pose->mutable_orientation()->set_z(0);
pose->mutable_position()->set_x(0.6); pose->mutable_position()->set_x(0.4);
pose->mutable_position()->set_y(0.4); pose->mutable_position()->set_y(0.4);
pose->mutable_position()->set_z(0.6); pose->mutable_position()->set_z(0.4);
plan::Trajectory_Pose* secondPose = trajectory.add_pose(); plan::Trajectory_Pose* secondPose = trajectory.add_pose();
secondPose->CopyFrom(*pose); secondPose->CopyFrom(*pose);
secondPose->mutable_position()->set_x(-0.6); secondPose->mutable_position()->set_x(-0.4);
std::string mqtt_msg{}; std::string mqtt_msg{};
trajectory.SerializeToString(&mqtt_msg); trajectory.SerializeToString(&mqtt_msg);
......
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