Pimpest/toid
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

wip-behaviors #3

Merged
Pimpest merged 86 commits from wip-behaviors into main 2026-05-28 06:21:26 +00:00
Conversation 0 Commits 86 Files Changed 129 +1 -1
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit ae3d0550cd - Show all commits

2
toid_behaviors/src/simple_rotate.cpp
View File

@@ -36,7 +36,7 @@ ResultStatus SimpleRotateBehavior::onStart(
const std::shared_ptr<const RotateAction::Goal> command, const geometry_msgs::msg::Pose & pose, const std::shared_ptr<const RotateAction::Goal> command, const geometry_msgs::msg::Pose & pose,
const geometry_msgs::msg::Twist & vel) const geometry_msgs::msg::Twist & vel)
{ {
target_angle_ = command->angle; target_angle_ = angles::normalize_angle(command->angle);
min_turn_angle_ = abs(command->min_angle); min_turn_angle_ = abs(command->min_angle);
initial_direction_ = (command->min_angle >= 0.0) ? 1.0 : -1.0; initial_direction_ = (command->min_angle >= 0.0) ? 1.0 : -1.0;