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Add aditional services to mg_odometry for easier callibration #2

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Pimpest merged 8 commits from odometry-calib into main 2025-03-10 11:45:41 +00:00
Conversation 0 Commits 8 Files Changed 10 +159 -6
10 changed files with 159 additions and 6 deletions
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8
mg_navigation/src/mg_navigation.cpp
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@ -76,10 +76,10 @@ namespace mg {
sv_rotate = rclcpp_action::create_server<Rotate>( sv_rotate = rclcpp_action::create_server<Rotate>(
this, this,
"MoveStraight", "Rotate",
std::bind(&MgNavigationServer::handle_goal<Rotate>, this, _1, _2, "MoveStraight"), std::bind(&MgNavigationServer::handle_goal<Rotate>, this, _1, _2, "Rotate"),
std::bind(&MgNavigationServer::handle_cancel<Rotate>, this, _1, "MoveStraight"), std::bind(&MgNavigationServer::handle_cancel<Rotate>, this, _1, "Rotate"),
std::bind(&MgNavigationServer::handle_accepted<Rotate>, this, _1, "MoveStraight")); std::bind(&MgNavigationServer::handle_accepted<Rotate>, this, _1, "Rotate"));
} }
}; };