From 26ea0fb0a0b7d8e6bd12e2db849d41fbcb6f50f9 Mon Sep 17 00:00:00 2001
From: eharlan <eharlan@uni-bremen.de>
Date: Mon, 22 May 2023 09:14:03 +0200
Subject: [PATCH] a
---
robomaster_pi/conn_odom.py | 9 +--------
1 file changed, 1 insertion(+), 8 deletions(-)
diff --git a/robomaster_pi/conn_odom.py b/robomaster_pi/conn_odom.py
index c670aa3..42c268a 100644
--- a/robomaster_pi/conn_odom.py
+++ b/robomaster_pi/conn_odom.py
@@ -9,7 +9,6 @@ import tf2_ros
from geometry_msgs.msg import TransformStamped
class OdometryPublisher(Node):
- zWinkel = 0.0
def __init__(self):
super().__init__('odometry_publisher')
@@ -20,6 +19,7 @@ class OdometryPublisher(Node):
self.transform_stamped_.child_frame_id = "base_footprint"
ep_robot = robot.Robot()
ep_robot.initialize(conn_type="rndis")
+ self.yaw = 0.0
ep_chassis = ep_robot.chassis
ep_chassis.sub_position(freq=50, callback=self.sub_position_handler)
@@ -30,10 +30,6 @@ class OdometryPublisher(Node):
self.yaw, pitch, roll = attitude_info
-
-
-
-
def sub_position_handler(self, position_info):
self.x, self.y, self.z = position_info
self.publish_odometry()
@@ -61,13 +57,10 @@ class OdometryPublisher(Node):
self.transform_stamped_.transform.translation.y = -self.y
self.transform_stamped_.transform.translation.z = 0.0
q = self.quaternion_from_euler(0.0, 0.0, -self.yaw / (180 / math.pi))
-
self.transform_stamped_.transform.rotation.x = q[0]
self.transform_stamped_.transform.rotation.y = q[1]
self.transform_stamped_.transform.rotation.z = q[2]
self.transform_stamped_.transform.rotation.w = q[3]
-
-
self.tf_broadcaster_.sendTransform(self.transform_stamped_)
--
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