From abcbf402a904a7d1d5a50b380ff084d6b0eb32af Mon Sep 17 00:00:00 2001 From: Vincent Belpois Date: Wed, 24 Apr 2024 21:42:25 +0200 Subject: [PATCH] Fixed parameter naming --- src/ezbot_robot/config/omnidirectional_controller.yaml | 4 ++-- .../src/omnidirectional_controller.cpp | 8 ++++---- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/ezbot_robot/config/omnidirectional_controller.yaml b/src/ezbot_robot/config/omnidirectional_controller.yaml index 38dd7d8..ab43e5a 100644 --- a/src/ezbot_robot/config/omnidirectional_controller.yaml +++ b/src/ezbot_robot/config/omnidirectional_controller.yaml @@ -39,8 +39,8 @@ omnidirectional_controller: linear_max_velocity: 5.0 linear_has_acceleration_limits: true - max_acceleration: 10.0 - min_acceleration: -10.0 + linear_max_acceleration: 10.0 + linear_min_acceleration: -10.0 angular_has_acceleration_limits: true angular_max_acceleration: 2.0 diff --git a/src/omnidirectional_controllers/src/omnidirectional_controller.cpp b/src/omnidirectional_controllers/src/omnidirectional_controller.cpp index 517dc73..da4af34 100644 --- a/src/omnidirectional_controllers/src/omnidirectional_controller.cpp +++ b/src/omnidirectional_controllers/src/omnidirectional_controller.cpp @@ -188,8 +188,8 @@ CallbackReturn OmnidirectionalController::on_configure( odom_params_.linear_has_acceleration_limits = linear_has_acceleration_limits.as_bool(); } if (odom_params_.linear_has_acceleration_limits) { - odom_params_.linear_min_acceleration = node_->get_parameter("min_acceleration").as_double(); - odom_params_.linear_max_acceleration = node_->get_parameter("max_acceleration").as_double(); + odom_params_.linear_min_acceleration = node_->get_parameter("linear_min_acceleration").as_double(); + odom_params_.linear_max_acceleration = node_->get_parameter("linear_max_acceleration").as_double(); } auto linear_has_jerk_limits = node_->get_parameter("linear_has_jerk_limits"); @@ -200,8 +200,8 @@ CallbackReturn OmnidirectionalController::on_configure( odom_params_.linear_has_jerk_limits = linear_has_jerk_limits.as_bool(); } if (odom_params_.linear_has_jerk_limits) { - odom_params_.linear_min_jerk = node_->get_parameter("min_jerk").as_double(); - odom_params_.linear_max_jerk = node_->get_parameter("max_jerk").as_double(); + odom_params_.linear_min_jerk = node_->get_parameter("linear_min_jerk").as_double(); + odom_params_.linear_max_jerk = node_->get_parameter("linear_max_jerk").as_double(); }