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Fix gimbal controller logic wrong #191

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Merged
YoujianWu merged 1 commit into from
Apr 8, 2025
Merged

Fix gimbal controller logic wrong #191

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5 changes: 4 additions & 1 deletion rm_gimbal_controllers/src/gimbal_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
{
Expand Down Expand Up @@ -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();
}
}
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