From 465ddf3b3fe4f8bb775ff0d8e7bf30e603ad98e5 Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Mon, 29 Jun 2020 13:29:41 +0200 Subject: [PATCH] update mapping rule --- ros2rag.starter/src/main/jastadd/Definitions.ros2rag | 2 +- .../java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/ros2rag.starter/src/main/jastadd/Definitions.ros2rag b/ros2rag.starter/src/main/jastadd/Definitions.ros2rag index 8706219..0498332 100644 --- a/ros2rag.starter/src/main/jastadd/Definitions.ros2rag +++ b/ros2rag.starter/src/main/jastadd/Definitions.ros2rag @@ -19,7 +19,7 @@ SerializeRobotConfig maps config.Robotconfig.RobotConfig rc to byte[] {: LinkStateToIntPosition maps panda.Linkstate.PandaLinkState pls to IntPosition {: panda.Linkstate.PandaLinkState.Position p = pls.getPos(); - return IntPosition.of((int) (p.getPositionX() * 10), (int) (p.getPositionY() * 10), (int) (p.getPositionZ() * 10)); + return IntPosition.of((int) (Math.round(p.getPositionX() * 2)), (int) (Math.round(p.getPositionY() * 2)), (int) (Math.round(p.getPositionZ() * 2 + 0.5))); :} CreateSpeedMessage maps double speed to config.Robotconfig.RobotConfig {: diff --git a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java index d43ce49..8c8919d 100644 --- a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java +++ b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java @@ -102,7 +102,7 @@ public class StarterMain { .setEnableOrientation(false) .setEnableTwistAngular(false) .setEnableTwistLinear(false) - .setPublishRate(1000) + .setPublishRate(100) .build(); mainHandler.publish(dataConfigTopic, dataConfig.toByteArray()); } -- GitLab