From a2f904cd6b67b22235632e2b9f40393457efe9ac Mon Sep 17 00:00:00 2001 From: liyixin135 <421159734@qq.com> Date: Sun, 15 Oct 2023 22:18:31 +0800 Subject: [PATCH] Add velocity_set_point in shooter_controller. --- rm_shooter_controllers/src/standard.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/rm_shooter_controllers/src/standard.cpp b/rm_shooter_controllers/src/standard.cpp index ec77bfde..11f32ebe 100644 --- a/rm_shooter_controllers/src/standard.cpp +++ b/rm_shooter_controllers/src/standard.cpp @@ -168,7 +168,8 @@ void Controller::push(const ros::Time& time, const ros::Duration& period) config_.forward_push_threshold) { ctrl_trigger_.setCommand(ctrl_trigger_.command_struct_.position_ - - 2. * M_PI / static_cast(push_per_rotation_)); + 2. * M_PI / static_cast(push_per_rotation_), + -1 * cmd_.hz * 2. * M_PI / static_cast(push_per_rotation_)); last_shoot_time_ = time; } // Check block @@ -203,7 +204,8 @@ void Controller::block(const ros::Time& time, const ros::Duration& period) state_changed_ = false; ROS_INFO("[Shooter] Enter BLOCK"); last_block_time_ = time; - ctrl_trigger_.setCommand(ctrl_trigger_.joint_.getPosition() + config_.anti_block_angle); + ctrl_trigger_.setCommand(ctrl_trigger_.joint_.getPosition() + config_.anti_block_angle, + cmd_.hz * 2. * M_PI / static_cast(push_per_rotation_)); } if (std::abs(ctrl_trigger_.command_struct_.position_ - ctrl_trigger_.joint_.getPosition()) < config_.anti_block_threshold ||