From 0e1de4c72c8fb3910b687acacd2bebb17a6c8b71 Mon Sep 17 00:00:00 2001 From: 321aurora <2508260166@qq.com> Date: Tue, 8 Apr 2025 01:46:25 +0800 Subject: [PATCH] Fix some wrong. --- rm_gimbal_controllers/src/gimbal_base.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/rm_gimbal_controllers/src/gimbal_base.cpp b/rm_gimbal_controllers/src/gimbal_base.cpp index a3d045ab..2c10a4df 100644 --- a/rm_gimbal_controllers/src/gimbal_base.cpp +++ b/rm_gimbal_controllers/src/gimbal_base.cpp @@ -436,6 +436,9 @@ void Controller::moveJoint(const ros::Time& time, const ros::Duration& period) bullet_solver_->getSelectedArmorPosAndVel(target_pos, target_vel, data_track_.position, data_track_.velocity, data_track_.yaw, data_track_.v_yaw, data_track_.radius_1, data_track_.radius_2, data_track_.dz, data_track_.armors_num); + target_vel.x -= chassis_vel_->linear_->x(); + target_vel.y -= chassis_vel_->linear_->y(); + target_vel.z -= chassis_vel_->linear_->z(); tf2::Vector3 target_pos_tf, target_vel_tf; try { @@ -499,7 +502,7 @@ void Controller::moveJoint(const ros::Time& time, const ros::Duration& period) pub.second->msg_.set_point_dot = vel_des[pub.first]; pub.second->msg_.process_value = pos_real[pub.first]; pub.second->msg_.error = angle_error[pub.first]; - pub.second->msg_.command = pid_pos_.at(pub.first)->getCurrentCmd(); + pub.second->msg_.command = pid_pos_[pub.first]->getCurrentCmd(); pub.second->unlockAndPublish(); } }