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Use set_yaw in blocks

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This commit is contained in:
Oleg Kalachev
2022-12-21 20:56:44 +03:00
parent 5a98e1ab78
commit 66d4839f81
1 changed files with 5 additions and 1 deletions
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6
clover_blocks/www/python.js
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@@ -83,6 +83,9 @@ function generateROSDefinitions() {
if (rosDefinitions.navigateGlobal) {
code += `navigate_global = rospy.ServiceProxy('navigate_global', srv.NavigateGlobal)\n`;
}
if (rosDefinitions.setYaw) {
code += `set_yaw = rospy.ServiceProxy('set_yaw', srv.SetYaw)\n`;
}
if (rosDefinitions.setVelocity) {
code += `set_velocity = rospy.ServiceProxy('set_velocity', srv.SetVelocity)\n`;
}
@@ -276,10 +279,11 @@ Blockly.Python.angle = function(block) {
}
Blockly.Python.set_yaw = function(block) {
rosDefinitions.setYaw = true;
simpleOffboard();
let yaw = Blockly.Python.valueToCode(block, 'YAW', Blockly.Python.ORDER_NONE);
let frameId = buildFrameId(block);
let code = `navigate(x=float('nan'), y=float('nan'), z=float('nan'), yaw=${yaw}, frame_id=${frameId})\n`;
let code = `set_yaw(yaw=${yaw}, frame_id=${frameId})\n`;
if (block.getFieldValue('WAIT') == 'TRUE') {
rosDefinitions.waitYaw = true;
simpleOffboard();