Revision 30a3768e
Last commit did not contain changes to Odometry behavior. Gits dumb.
scout/libscout/src/behaviors/Odometry.cpp | ||
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Odometry::Odometry(string scoutname, Sensors* sensors):Behavior(scoutname, |
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"odometry", sensors) |
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{ |
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name = scoutname; |
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scout_pos = new pos; |
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motor_fl_ticks = motor_fr_ticks = motor_bl_ticks = motor_br_ticks = 0; |
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} |
... | ... | |
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|
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void Odometry::run() |
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{ |
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scout_position = node.advertise< ::messages::ScoutPosition>(name+"/position", 1000); |
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while(ok()) |
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{ |
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get_position(); |
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//TODO publish position |
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position.name = name; |
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position.x = scout_pos->x; |
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position.y = scout_pos->y; |
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position.theta = scout_pos->theta; |
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scout_position.publish(position); |
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ROS_INFO("Scout is at x: %f y: %f theta: %f\n", scout_pos->x, scout_pos->y, scout_pos->theta); |
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} |
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} |
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