From 03cbc06d45470cbaccf8b2d20817354063c2e764 Mon Sep 17 00:00:00 2001
From: uquzq <ventsi@DESKTOP-J41TDPJ>
Date: Tue, 25 Jun 2024 12:30:00 +0200
Subject: [PATCH] Fix a mistake in topic name
---
.../simple_robot_3dof/forward_kinematics_node_3dof_1.py | 2 +-
.../simple_robot_3dof/forward_kinematics_node_3dof_2.py | 2 +-
.../simple_robot_3dof/forward_kinematics_node_3dof_3.py | 2 +-
.../simple_robot_3dof/simple_robot_3dof/reference_node_3dof.py | 2 +-
4 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py
index 6fd4b40..d09b3de 100644
--- a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py
+++ b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_1.py
@@ -14,7 +14,7 @@ class Forward_Kinematics_Node_3Dof(Node):
# Create a subscriber, initialising the transformation
self.subscription = self.create_subscription(
Float64,
- '/dof2/reference_angles',
+ '/dof3/reference_angles',
self.listener_callback,
10)
# Create two publishers for the RViz simulation - one for the whole path and one for the marker
diff --git a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py
index b770add..3ae5796 100644
--- a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py
+++ b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_2.py
@@ -15,7 +15,7 @@ class Forward_Kinematics_Node_3Dof(Node):
# Create a subscriber, initialising the transformation
self.subscription = self.create_subscription(
Float64,
- '/dof2/reference_angles',
+ '/dof3/reference_angles',
self.listener_callback,
10)
# Create two publishers for the RViz simulation - one for the whole path and one for the marker
diff --git a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_3.py b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_3.py
index e302fd1..5559d41 100644
--- a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_3.py
+++ b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/forward_kinematics_node_3dof_3.py
@@ -15,7 +15,7 @@ class Forward_Kinematics_Node_3Dof(Node):
# Create a subscriber, initialising the transformation
self.subscription = self.create_subscription(
Float64,
- '/dof2/reference_angles',
+ '/dof3/reference_angles',
self.listener_callback,
10)
# Create two publishers for the RViz simulation - one for the whole path and one for the marker
diff --git a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/reference_node_3dof.py b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/reference_node_3dof.py
index 207548f..7300d47 100644
--- a/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/reference_node_3dof.py
+++ b/ros2_ws/src/simple_robot_3dof/simple_robot_3dof/reference_node_3dof.py
@@ -11,7 +11,7 @@ class Reference_Node_3DoF(Node):
def __init__(self):
super().__init__('reference_node_1dof')
#Create a publisher sending the vector as a message
- self.publisher_ = self.create_publisher(Float64, '/dof2/reference_angles', 10)#
+ self.publisher_ = self.create_publisher(Float64, '/dof3/reference_angles', 10)#
timer_period = 0.05 # seconds
self.timer = self.create_timer(timer_period, self.ref_point_publisher)
self.phi_start = 0.0
--
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