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fix(pose2twist): order to create callback #220

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merged 3 commits into from
Dec 27, 2021
Merged

fix(pose2twist): order to create callback #220

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891f9c7
fix: order to create callback
taikitanaka3 Dec 24, 2021
c9837fe
Merge branch 'tier4/proposal' into 219-fix-pose-to-twist
1222-takeshi Dec 24, 2021
8dfc6eb
Merge branch 'tier4/proposal' into 219-fix-pose-to-twist
mitsudome-r Dec 27, 2021
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6 changes: 3 additions & 3 deletions localization/pose2twist/src/pose2twist_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,13 +28,13 @@ Pose2Twist::Pose2Twist() : Node("pose2twist_core")
rclcpp::QoS durable_qos(queue_size);
durable_qos.transient_local();

pose_sub_ = create_subscription<geometry_msgs::msg::PoseStamped>(
"pose", queue_size, std::bind(&Pose2Twist::callbackPose, this, _1));

twist_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist", durable_qos);
linear_x_pub_ = create_publisher<tier4_debug_msgs::msg::Float32Stamped>("linear_x", durable_qos);
angular_z_pub_ =
create_publisher<tier4_debug_msgs::msg::Float32Stamped>("angular_z", durable_qos);
// Note: this callback publishes topics above
pose_sub_ = create_subscription<geometry_msgs::msg::PoseStamped>(
"pose", queue_size, std::bind(&Pose2Twist::callbackPose, this, _1));
}

double calcDiffForRadian(const double lhs_rad, const double rhs_rad)
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