Added new script for posting messages to CAN #1
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aronasefaw
requested changes
Dec 14, 2023
scripts/dlio_to_can.py
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| # Assign linear velocity to message field | ||
| sbg_msg_odo.VELOCITY = odom_msg.twist.twist.linear.x | ||
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| # If the velocity should be like sqrt(x^2+y^2) |
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Yes it should be sqrt(x^2+y^2), check the slack group chat
scripts/dlio_to_can.py
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| # vel_tot = math.sqrt(vel_x**2 + vel_y**2) | ||
| # sbg_msg_odo.VELOCITY = vel_tot | ||
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| rospy.loginfo("Published SBG messages") |
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Wont this print every time we publish, that could be a bit much
aronasefaw
reviewed
Dec 15, 2023
| @@ -59,6 +59,7 @@ | |||
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| <!-- RViz --> | |||
| <node pkg="rviz" type="rviz" name="dlio_rviz" args="-d $(find direct_lidar_inertial_odometry)/launch/dlio.rviz" if="$(arg rviz)"/> | |||
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| <node pkg="direct_lidar_inertial_odometry" type="dlio_to_can" name="dlio_2_can" output="screen"/> | |||
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I would like a flag, just like in the line above, so an argument is checked to decide if the script is ran.
if="$(arg rviz)"/>
but maybe something like:
if="$(arg can)"/>
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check chatgpt how to do this, i.e. if you also have to add something similar toargs="-d $(find direct_lidar_inertial_odometry)/launch/dlio.rviz" or not. You could also check other packages in the repo
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