1 line
952 B
JSON
1 line
952 B
JSON
{"path":"99 Work/0 OneSec/OneSecNotes/Multimedia/Pasted image 20231005135545.png","text":"4 [ private: e void odometry_callback(const nav_msgs::msg::0Odometry::SharedPtr _msg) { e _—, tf2::Quaternion quat_tf; — 7 s . A N geometry msgs::msg::Quaternion quat_msg = _msg->pose.pose.orientation; == : tf2::fromMsg(quat_msg, quat_tf); ';f_:____ double roll{}, pitch{}, yaw{}; —— tf2::Matrix3x3 m(quat_tf); p———— § m.getRPY(roll, pitch, yaw); *{? I float yaw_check = yaw * 180 / M PI; e e A L if (yaw_check < @) { I e yaw_check = 360.0 - sta::abs(yaw_check); “_i'._..‘t'__ } = robotAngle = yaw_check; ;?_ | RCLCPP_INFO(this->get logger(), “position: '%f' '%f'\", e | _msg->pose.pose.position.x, _msg->pose.pose.position.y); ——— } =2 void timer callback() { e RCLCPP_INFO(this->get_logger(), \"yaw: '%f'\", robotAngle); Fm auto message = geometry msgs::msg::Twist(); - if (robotAngle < 30.0) {","libVersion":"0.3.1","langs":"eng"} |