MVP Hardware Node #113
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MVP Hardware Node #113
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feat: add ControllerMessage.msg to 'truck_msgs' for telemetry topics feat: create package/hardware_node_2
m7kss1
requested review from
AndBondStyle
and removed request for
AndBondStyle
Signed-off-by: Dergousov Maxim <[email protected]>
fix: remove build files
…boratory/truck into m7kss1-hardware-node
Signed-off-by: Dergousov Maxim <[email protected]>
Signed-off-by: Dergousov Maxim <[email protected]>
fix: сode style improvements
fix: сode style improvements
…boratory/truck into m7kss1-hardware-node
Signed-off-by: Dergousov Maxim <[email protected]>
Signed-off-by: Dergousov Maxim <[email protected]>
…boratory/truck into m7kss1-hardware-node
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AndBondStyle
reviewed
Mar 2, 2024
| twist = model_->baseToRearTwist(twist); | ||
| auto steering = model_->rearTwistToSteering(twist); | ||
| RCLCPP_INFO(this->get_logger(), "Center curv: %.2f", msg.curvature); | ||
| RCLCPP_INFO(this->get_logger(), "Rear curv: %.2f", twist.curvature); |
| memcpy(&voltage, voltageFrame.first.data, sizeof(voltage)); | ||
| memcpy(¤t, voltageFrame.first.data + 4, sizeof(current)); | ||
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| auto encoderFrame = framesCache[CmdId::kGetEncoderEstimates]; |
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Мы не так договаривались делать, а написать специальную функцию, которая достает фрейм + сразу проверяет, что он достаточно свежий
AndBondStyle
reviewed
Mar 5, 2024
| std::chrono::system_clock::time_point curTime = std::chrono::system_clock::now(); | ||
| auto curTimeMs = std::chrono::time_point_cast<std::chrono::milliseconds>(curTime); | ||
| auto msgTimeMs = std::chrono::time_point_cast<std::chrono::milliseconds>(msgTime); | ||
| return (curTimeMs >= msgTimeMs - 2 * delay); |
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Кажется time_point - time_point = duration??
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