Magnezijum-Robotics/magrob
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Added new robot descriptions for Robotoid

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pimpest
2026-01-05 00:32:35 +01:00
parent 7da27e4cb8
commit b724a7a679
17 changed files with 243 additions and 18 deletions
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2
mg_navigation/include/handlers/dwa_core.hpp
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@@ -152,7 +152,7 @@ namespace mg {
double x = NAN;
double y = NAN;
auto tmsg = tfbuf->lookupTransform("odom", "base-link", tf2::TimePointZero);
auto tmsg = tfbuf->lookupTransform("odom", "base_footprint", tf2::TimePointZero);
tf2::Transform t;
tf2::convert(tmsg.transform, t);

2
mg_navigation/src/mg_navigation.cpp
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@@ -51,7 +51,7 @@ namespace mg {
path_buffer_ = std::make_shared<PathBuffer>(this);
pub_twist = create_publisher<Geometry::TwistStamped>("diffdrive_controller/cmd_vel", 2);
pub_twist = create_publisher<Geometry::TwistStamped>("/cmd_vel", 2);
obstacle_manager_ = std::make_shared<ObstacleManager>(this, tf2_buffer);