From 71bb1ebf1b3741f1da8394838eda1cf17eebaffc Mon Sep 17 00:00:00 2001
From: 1moule <1961466188@qq.com>
Date: Tue, 28 May 2024 02:05:56 +0800
Subject: [PATCH] Publish follow vel des.

---
 rm_common/include/rm_common/decision/command_sender.h | 4 ++++
 rm_msgs/msg/ChassisCmd.msg                            | 1 +
 2 files changed, 5 insertions(+)

diff --git a/rm_common/include/rm_common/decision/command_sender.h b/rm_common/include/rm_common/decision/command_sender.h
index a77278c1..dfceb6eb 100644
--- a/rm_common/include/rm_common/decision/command_sender.h
+++ b/rm_common/include/rm_common/decision/command_sender.h
@@ -254,6 +254,10 @@ class ChassisCommandSender : public TimeStampCommandSenderBase<rm_msgs::ChassisC
   {
     power_limit_->setRefereeStatus(status);
   }
+  void setFollowVelDes(double follow_vel_des)
+  {
+    msg_.follow_vel_des = follow_vel_des;
+  }
   void sendChassisCommand(const ros::Time& time, bool is_gyro)
   {
     power_limit_->setLimitPower(msg_, is_gyro);
diff --git a/rm_msgs/msg/ChassisCmd.msg b/rm_msgs/msg/ChassisCmd.msg
index 1ea1b666..8547573c 100644
--- a/rm_msgs/msg/ChassisCmd.msg
+++ b/rm_msgs/msg/ChassisCmd.msg
@@ -7,6 +7,7 @@ uint8 FALLEN = 4
 uint8 mode
 geometry_msgs/Accel accel
 float64 power_limit
+float64 follow_vel_des
 string follow_source_frame
 string command_source_frame
 time stamp