finalise

mangdangroboticsclub · Aug 23, 2024 · 9aa510c · 9aa510c
1 parent 872abc9
commit 9aa510c
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Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/mini_pupper_interfaces/CMakeLists.txt b/mini_pupper_interfaces/CMakeLists.txt
@@ -18,6 +18,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
  "srv/PlayMusic.srv"
  "srv/StopMusic.srv"
  "msg/LineDetectionResult.msg"
+ "msg/AiLineRecognitionResult.msg"
  DEPENDENCIES std_msgs # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg
 )
 

diff --git a/mini_pupper_recognition/mini_pupper_recognition/pid_line_following_node.py b/mini_pupper_recognition/mini_pupper_recognition/pid_line_following_node.py
@@ -18,6 +18,7 @@
 
 import rclpy
 from rclpy.node import Node
+from std_msgs.msg import String
 from geometry_msgs.msg import Twist
 import time
 from simple_pid import PID
@@ -49,7 +50,7 @@ def _vel_callback(self, msg):
  velocity_cmd = Twist()
 
  if msg.linear != '':
- self.linear_vel = float(msg.linear) * 2 # Scale the linear velocity
+ self.linear_vel = float(msg.linear) / 5 # Scale the linear velocity
  self.angular_vel = float(msg.angular) / 3 # Scale the angular velocity
 
  control_linear = self.pid_linear(self.linear_vel)