CopterExpress/clover
1
0
Fork 0
mirror of https://github.com/CopterExpress/clover.git synced 2026-05-26 11:43:25 +00:00
Code Issues Packages Projects Releases Wiki Activity

vpe_publisher: minor typo

Browse Source
This commit is contained in:
Oleg Kalachev
2022-06-02 18:13:37 +03:00
parent db0393a6f0
commit 51112651d4
1 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
clover/src/vpe_publisher.cpp
View File

@@ -33,14 +33,14 @@ ros::Subscriber local_position_sub;
ros::Timer zero_timer;
PoseStamped vpe, pose;
ros::Time got_local_pos(0);
ros::Duration publish_zero_timout, publish_zero_duration, offset_timeout;
ros::Duration publish_zero_timeout, publish_zero_duration, offset_timeout;
TransformStamped offset;
void publishZero(const ros::TimerEvent& e)
{
if (!vpe.header.stamp.isZero() && e.current_real - vpe.header.stamp < publish_zero_timout) return; // have vpe
if (!vpe.header.stamp.isZero() && e.current_real - vpe.header.stamp < publish_zero_timeout) return; // have vpe
if (!pose.header.stamp.isZero() && e.current_real - pose.header.stamp < publish_zero_timout) { // have local position
if (!pose.header.stamp.isZero() && e.current_real - pose.header.stamp < publish_zero_timeout) { // have local position
if (got_local_pos.isZero()) {
ROS_INFO("got local position");
got_local_pos = e.current_real;
@@ -144,7 +144,7 @@ int main(int argc, char **argv) {
if (nh_priv.param("force_init", false) || nh_priv.param("publish_zero", false)) { // publish_zero is old name
// publish zero to initialize the local position
zero_timer = nh.createTimer(ros::Duration(0.1), &publishZero);
publish_zero_timout = ros::Duration(nh_priv.param("force_init_timeout", 5.0));
publish_zero_timeout = ros::Duration(nh_priv.param("force_init_timeout", 5.0));
publish_zero_duration = ros::Duration(nh_priv.param("force_init_duration", 5.0));
local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &localPositionCallback);
}