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ROSBuzz_MISTLab
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obstacle buzz object

This commit is contained in:
vivek-shankar 2017-02-10 15:57:25 -05:00
parent b5c512142d
commit a98e11aa41
3 changed files with 4 additions and 3 deletions
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2
launch/rosbuzz_2_parallel.launch
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@ -2,7 +2,7 @@
<launch>
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<param name="bzzfile_name" value="/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz" />
<param name="bzzfile_name" value="/home/vivek/catkin_ws/src/rosbuzz/src/test_obst.bzz" />
<param name="rcclient" value="true" />
<param name="rcservice_name" value="rc_cmd" />
<param name="fcclient_name" value="/djicmd" />

1
src/buzz_utility.cpp
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@ -492,6 +492,7 @@ namespace buzz_utility{
buzzuav_closures::buzzuav_update_prox(VM);
buzzuav_closures::buzzuav_update_currentpos(VM);
buzzuav_closures::buzzuav_update_flight_status(VM);
buzzuav_closures::buzzuav_update_obstacle(VM);
/*
* Call Buzz step() function
*/

4
src/buzzuav_closures.cpp
View File

@ -12,7 +12,7 @@ namespace buzzuav_closures{
static double goto_pos[3];
static double rc_goto_pos[3];
static float batt[3];
static float obst[5];
static float obst[5]={0,0,0,0,0};
static double cur_pos[3];
static uint8_t status;
static int cur_cmd = 0;
@ -204,7 +204,7 @@ rc_cmd=rc_cmd_in;
void set_obstacle_dist(float dist[]){
for(int i=0; i<5;i++)
dist[i]=obst[i];
obst[i]=dist[i];
}