Spiri
/
ROSBuzz_MISTLab
13
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

minor fixes

This commit is contained in:
David St-Onge 2017-01-25 21:54:35 -05:00
parent 149abb9d53
commit e9705ddb14
2 changed files with 5 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/roscontroller.cpp
View File

@ -40,14 +40,16 @@ namespace rosbzz_node{
auto current_time = ros::Time::now(); auto current_time = ros::Time::now();
map< int, buzz_utility::Pos_struct >::iterator it; map< int, buzz_utility::Pos_struct >::iterator it;
rosbuzz::neigh_pos neigh_pos_array; //neigh_pos_array.clear(); rosbuzz::neigh_pos neigh_pos_array; //neigh_pos_array.clear();
neigh_pos_array.header.frame_id = "/world";
neigh_pos_array.header.stamp = current_time;
for (it=raw_neighbours_pos_map.begin(); it!=raw_neighbours_pos_map.end(); ++it){ for (it=raw_neighbours_pos_map.begin(); it!=raw_neighbours_pos_map.end(); ++it){
sensor_msgs::NavSatFix neigh_tmp; sensor_msgs::NavSatFix neigh_tmp;
//cout<<"iterator it val: "<< it-> first << " After convertion: " <<(uint8_t) buzz_utility::get_rid_uint8compac(it->first)<<endl; //cout<<"iterator it val: "<< it-> first << " After convertion: " <<(uint8_t) buzz_utility::get_rid_uint8compac(it->first)<<endl;
neigh_tmp.header.stamp = current_time; neigh_tmp.header.stamp = current_time;
neigh_tmp.header.frame_id = "/world"; neigh_tmp.header.frame_id = "/world";
neigh_tmp.position_covariance_type=it->first; //custom robot id storage neigh_tmp.position_covariance_type=it->first; //custom robot id storage
neigh_tmp.longitude=(it->second).x; neigh_tmp.latitude=(it->second).x;
neigh_tmp.latitude=(it->second).y; neigh_tmp.longitude=(it->second).y;
neigh_tmp.altitude=(it->second).z; neigh_tmp.altitude=(it->second).z;
neigh_pos_array.pos_neigh.push_back(neigh_tmp); neigh_pos_array.pos_neigh.push_back(neigh_tmp);
//std::cout<<"long obt"<<neigh_tmp.longitude<<endl; //std::cout<<"long obt"<<neigh_tmp.longitude<<endl;

1
src/test1.bzz
View File

@ -31,6 +31,7 @@ function hexagon() {
if(neighbors.count() > 0) if(neighbors.count() > 0)
math.vec2.scale(accum, 1.0 / neighbors.count()) math.vec2.scale(accum, 1.0 / neighbors.count())
# Move according to vector # Move according to vector
print("Robot ", id, "must push ",accum.x, "; ", accum.y)
uav_goto(accum.x+position.latitude, accum.y+position.longitude, TARGET_ALTITUDE) uav_goto(accum.x+position.latitude, accum.y+position.longitude, TARGET_ALTITUDE)
} }