From 1c2573e885ed7f83381080e8caf9e4e8ac7dce68 Mon Sep 17 00:00:00 2001
From: uquzq <ventsi@DESKTOP-J41TDPJ>
Date: Thu, 27 Jun 2024 15:20:23 +0200
Subject: [PATCH] Update 'forward_kinematics_1dof_node' code
---
.../simple_robot_1dof/forward_kinematics_node_1dof.py | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py b/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py
index 19da4a3..5c38f11 100644
--- a/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py
+++ b/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py
@@ -62,9 +62,9 @@ class Forward_Kinematics_Node_1Dof(Node):
self.publish_pose(intermediate_vector, quaternion)
- self.construct_path(intermediate_vector)
+ self.construct_path(intermediate_vector, quaternion)
- def construct_path(self, vector):
+ def construct_path(self, vector, quaternion):
# RViz
pose = PoseStamped()
pose.header.frame_id = "map"
@@ -72,7 +72,7 @@ class Forward_Kinematics_Node_1Dof(Node):
pose.pose.position.x = vector[0]
pose.pose.position.y = vector[1]
pose.pose.position.z = vector[2]
- pose.pose.orientation.w = 1.0
+ pose.pose.orientation.w = quaternion[3]
# if the path is completed clear it
if self.phi == 0:
--
GitLab