From 63342ce88b7e38c4153a327c5c0aed65296a50e3 Mon Sep 17 00:00:00 2001 From: Guramumei <1421887449@qq.com> Date: Fri, 5 Apr 2024 00:21:42 +0800 Subject: [PATCH] Add target distance ui. --- rm_referee/src/referee_base.cpp | 3 +-- rm_referee/src/ui/time_change_ui.cpp | 5 ++--- 2 files changed, 3 insertions(+), 5 deletions(-) diff --git a/rm_referee/src/referee_base.cpp b/rm_referee/src/referee_base.cpp index 848b96b7..d71797f2 100644 --- 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("/joint_states", 10, &RefereeBase::jointStateCallback, this); RefereeBase::actuator_state_sub_ = nh.subscribe("/actuator_states", 10, &RefereeBase::actuatorStateCallback, this); - RefereeBase::dbus_sub_ = - nh.subscribe(dbus_topic_, 10, &RefereeBase::dbusDataCallback, this); + RefereeBase::dbus_sub_ = nh.subscribe(dbus_topic_, 10, &RefereeBase::dbusDataCallback, this); RefereeBase::chassis_cmd_sub_ = nh.subscribe("/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 index da0159d6..fdc54823 100644 --- 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)