Commit 465ddf3b authored by Johannes Mey's avatar Johannes Mey
Browse files

update mapping rule

parent 4e5a4f97
Pipeline #7081 passed with stages
in 5 minutes and 42 seconds
...@@ -19,7 +19,7 @@ SerializeRobotConfig maps config.Robotconfig.RobotConfig rc to byte[] {: ...@@ -19,7 +19,7 @@ SerializeRobotConfig maps config.Robotconfig.RobotConfig rc to byte[] {:
LinkStateToIntPosition maps panda.Linkstate.PandaLinkState pls to IntPosition {: LinkStateToIntPosition maps panda.Linkstate.PandaLinkState pls to IntPosition {:
panda.Linkstate.PandaLinkState.Position p = pls.getPos(); 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 {: CreateSpeedMessage maps double speed to config.Robotconfig.RobotConfig {:
......
...@@ -102,7 +102,7 @@ public class StarterMain { ...@@ -102,7 +102,7 @@ public class StarterMain {
.setEnableOrientation(false) .setEnableOrientation(false)
.setEnableTwistAngular(false) .setEnableTwistAngular(false)
.setEnableTwistLinear(false) .setEnableTwistLinear(false)
.setPublishRate(1000) .setPublishRate(100)
.build(); .build();
mainHandler.publish(dataConfigTopic, dataConfig.toByteArray()); mainHandler.publish(dataConfigTopic, dataConfig.toByteArray());
} }
......
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