From 8078bebefff91fe59addd7985d10e67c10dfd85f Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Wed, 15 Jul 2020 13:35:02 +0200
Subject: [PATCH] working demo trajectory
---
src/MqttRosConnectionTestNode.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/MqttRosConnectionTestNode.cpp b/src/MqttRosConnectionTestNode.cpp
index 2e3142b..7df8993 100644
--- a/src/MqttRosConnectionTestNode.cpp
+++ b/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);
--
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