Merge pull request #232 from liyixin135/traj_1

Set pitch and yaw traj and add msg
rm-controls · Jul 26, 2024 · 14a4b3e · 14a4b3e
2 parents bbcd910 + df3310f
commit 14a4b3e
Show file tree

Hide file tree

Showing 2 changed files with 10 additions and 0 deletions.
diff --git a/rm_common/include/rm_common/decision/command_sender.h b/rm_common/include/rm_common/decision/command_sender.h
@@ -312,6 +312,11 @@ class GimbalCommandSender : public TimeStampCommandSenderBase<rm_msgs::GimbalCmd
       msg_.rate_pitch *= eject_sensitivity_;
     }
   }
+  void setGimbalTraj(double traj_yaw, double traj_pitch)
+  {
+    msg_.traj_yaw = traj_yaw;
+    msg_.traj_pitch = traj_pitch;
+  }
   void setZero() override
   {
     msg_.rate_yaw = 0.;

diff --git a/rm_msgs/msg/GimbalCmd.msg b/rm_msgs/msg/GimbalCmd.msg
@@ -1,6 +1,7 @@
 uint8 RATE = 0
 uint8 TRACK = 1
 uint8 DIRECT = 2
+uint8 TRAJ = 3
 
 time stamp
 uint8 mode
@@ -14,3 +15,7 @@ float64 accel_pitch
 # TRACK/DIRECT
 float64 bullet_speed
 geometry_msgs/PointStamped target_pos
+
+#TRAJ
+float64 traj_yaw
+float64 traj_pitch