Fix #3

jkk-research · May 12, 2023 · 7232176 · 7232176
1 parent 470e1d6
commit 7232176
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Showing 3 changed files with 2 additions and 3 deletions.
diff --git a/src/multiple_goal_pursuit.cpp b/src/multiple_goal_pursuit.cpp
@@ -38,7 +38,7 @@ class MultipleGoalPursuit : public rclcpp::Node
       if (param.get_name() == "waypoint_topic")
       {
         waypoint_topic = param.as_string();
-        sub_w_ = this->create_subscription<geometry_msgs::msg::PoseArray>(waypoint_topic, 10, std::bind(&SingleGoalPursuit::waypointCallback, this, _1));
+        sub_w_ = this->create_subscription<geometry_msgs::msg::PoseArray>(waypoint_topic, 10, std::bind(&MultipleGoalPursuit::waypointCallback, this, _1));
       }
       if (param.get_name() == "wheelbase")
       {

diff --git a/src/single_goal_pursuit.cpp b/src/single_goal_pursuit.cpp
@@ -76,7 +76,6 @@ class SingleGoalPursuit : public rclcpp::Node
     float alpha = atan2(goal_y, goal_x);
     float lookahead_distance = sqrt(pow(goal_x, 2) + pow(goal_y, 2));
     float steering_angle = atan2(2.0 * wheelbase * sin(alpha) / (lookahead_distance), 1);
-    steering_angle *= 14.8; // TODO: move to driver, geometry_msgs/Twist.angular.z should be in radians/second
     return steering_angle;
   }
 

diff --git a/src/stanley_control.cpp b/src/stanley_control.cpp
@@ -38,7 +38,7 @@ class StanleyControl : public rclcpp::Node
       if (param.get_name() == "waypoint_topic")
       {
         waypoint_topic = param.as_string();
-        sub_w_ = this->create_subscription<geometry_msgs::msg::PoseArray>(waypoint_topic, 10, std::bind(&SingleGoalPursuit::waypointCallback, this, _1));
+        sub_w_ = this->create_subscription<geometry_msgs::msg::PoseArray>(waypoint_topic, 10, std::bind(&StanleyControl::waypointCallback, this, _1));
       }
       if (param.get_name() == "wheelbase")
       {