From 7939e4e05ab0d63923df75e4d91ed880d388f50d Mon Sep 17 00:00:00 2001
From: eharlan <eharlan@uni-bremen.de>
Date: Tue, 9 May 2023 09:45:09 +0200
Subject: [PATCH] a
---
robomaster_pi/conn_odom.py | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/robomaster_pi/conn_odom.py b/robomaster_pi/conn_odom.py
index 7d85a93..322f538 100644
--- a/robomaster_pi/conn_odom.py
+++ b/robomaster_pi/conn_odom.py
@@ -21,11 +21,11 @@ class OdometryPublisher(Node):
def sub_position_handler(self, position_info):
self.x, self.y, self.z = position_info
- self.publish_odometry()
print("ok")
+ self.publish_odometry()
def publish_odometry(self):
- print("ja")
+
q = self.quaternion_from_euler(0, 0, -self.z* math.pi/180)
msg = Odometry()
msg.header.stamp = self.get_clock().now().to_msg()
@@ -37,6 +37,7 @@ class OdometryPublisher(Node):
msg.pose.pose.orientation.z = q[2]
msg.pose.pose.orientation.w = 0
self.publisher_.publish(msg)
+ print("ja")
def quaternion_from_euler(self, ai, aj, ak):
ai /= 2.0
--
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