From c849435d307649813e44f6ca2ef0fcf395290612 Mon Sep 17 00:00:00 2001 From: torobo Date: Tue, 14 Nov 2023 14:48:15 +0900 Subject: [PATCH] debug cmd_full_state cb --- crazyflie/scripts/crazyflie_server.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py index a95c06e0a..1b6018d72 100755 --- a/crazyflie/scripts/crazyflie_server.py +++ b/crazyflie/scripts/crazyflie_server.py @@ -246,7 +246,7 @@ def __init__(self): "/cmd_hover", partial(self._cmd_hover_changed, uri=uri), 10 ) self.create_subscription( - Hover, name + + FullState, name + "/cmd_full_state", partial(self._cmd_full_state_changed, uri=uri), 10 ) qos_profile = QoSProfile(reliability =QoSReliabilityPolicy.BEST_EFFORT, @@ -861,8 +861,8 @@ def _cmd_full_state_changed(self, msg, uri=""): pitch_rate = msg.twist.angular.y yaw_rate = msg.twist.angular.z - self.swarm._cfs[uri].cf.commander.send_hover_setpoint(pos, vel, acc, q, roll_rate, pitch_rate, yaw_rate) - self.get_logger().info(f"{uri}: Received full state topic {pose} {vel} {acc} {q}, {roll_rate}, {pitch_rate}, {yaw_rate}) + self.swarm._cfs[uri].cf.commander.send_full_state_setpoint(pos, vel, acc, q, roll_rate, pitch_rate, yaw_rate) + self.get_logger().info(f"{uri}: Received full state topic {pos} {vel} {acc} {q}, {roll_rate}, {pitch_rate}, {yaw_rate}") def _remove_logging(self, request, response, uri="all"): """