Add target distance ui.

rm-controls · Apr 4, 2024 · 63342ce · 63342ce
1 parent 378ba48
commit 63342ce
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Showing 2 changed files with 3 additions and 5 deletions.
diff --git a/rm_referee/src/referee_base.cpp b/rm_referee/src/referee_base.cpp
@@ -13,8 +13,7 @@ RefereeBase::RefereeBase(ros::NodeHandle& nh, Base& base) : base_(base), nh_(nh)
       nh.subscribe<sensor_msgs::JointState>("/joint_states", 10, &RefereeBase::jointStateCallback, this);
   RefereeBase::actuator_state_sub_ =
       nh.subscribe<rm_msgs::ActuatorState>("/actuator_states", 10, &RefereeBase::actuatorStateCallback, this);
-  RefereeBase::dbus_sub_ =
-      nh.subscribe<rm_msgs::DbusData>(dbus_topic_, 10, &RefereeBase::dbusDataCallback, this);
+  RefereeBase::dbus_sub_ = nh.subscribe<rm_msgs::DbusData>(dbus_topic_, 10, &RefereeBase::dbusDataCallback, this);
   RefereeBase::chassis_cmd_sub_ =
       nh.subscribe<rm_msgs::ChassisCmd>("/cmd_chassis", 10, &RefereeBase::chassisCmdDataCallback, this);
   RefereeBase::vel2D_cmd_sub_ =

diff --git a/rm_referee/src/ui/time_change_ui.cpp b/rm_referee/src/ui/time_change_ui.cpp
@@ -371,7 +371,7 @@ void BulletTimeChangeUi::updateConfig()
 
 void TargetDistanceTimeChangeUi::updateTargetDistanceData(const rm_msgs::TrackData::ConstPtr& data)
 {
-  if(data->id == 0)
+  if (data->id == 0)
     return;
   geometry_msgs::PointStamped output;
   geometry_msgs::PointStamped input;
@@ -381,8 +381,7 @@ void TargetDistanceTimeChangeUi::updateTargetDistanceData(const rm_msgs::TrackDa
   //  tf_buffer_.transform(input, output, "base_link");
   try
   {
-    geometry_msgs::TransformStamped transform_stamped =
-        tf_buffer_.lookupTransform("base_link", "odom", ros::Time(0));
+    geometry_msgs::TransformStamped transform_stamped = tf_buffer_.lookupTransform("base_link", "odom", ros::Time(0));
     tf2::doTransform(input, output, transform_stamped);
   }
   catch (tf2::TransformException& ex)