Added default value for u_desired to be chosen by the mission_planner

vortexntnu · Apr 22, 2024 · 1dd7035 · 1dd7035
1 parent b140a79
commit 1dd7035
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/guidance/hybridpath_guidance/hybridpath_guidance/hybridpath_guidance_node.py b/guidance/hybridpath_guidance/hybridpath_guidance/hybridpath_guidance_node.py
@@ -33,6 +33,8 @@ def __init__(self):
         self.mu = self.get_parameter('hybridpath_guidance.mu').get_parameter_value().double_value
         self.eta = np.zeros(3)
 
+        self.u_desired = 0.25 # Desired velocity
+
         # Flags for logging
         self.waypoints_received = False
         self.waiting_message_printed = False
@@ -53,7 +55,6 @@ def waypoint_callback(self, request, response):
 
         self.s = 0
         signals = HybridPathSignals(self.path, self.s)
-        self.u_desired = signals.u_desired
         self.w = signals.get_w(self.mu, self.eta)
 
         response.success = True