working demo trajectory

src/MqttRosConnectionTestNode.cpp

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