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Update the support of ubuntu20.04 #700

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Update the support of ubuntu20.04 #700

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2b17287
Update README.md
mengchaoheng Apr 24, 2022
28ec88b
fix thrust_direction
mengchaoheng Apr 24, 2022
394343c
fix roslaunch about js
mengchaoheng Apr 24, 2022
df10ed7
Update README.md
mengchaoheng Apr 24, 2022
fd3b85d
Update README.md
mengchaoheng Apr 24, 2022
dfda825
Update README.md
mengchaoheng Apr 24, 2022
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fix thrust_direction
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@mengchaoheng
mengchaoheng committed Apr 24, 2022
commit 28ec88be7ce631ef0cbcc59b3a1ee9ad41f23d16
9 changes: 6 additions & 3 deletions rotors_joy_interface/src/joy.cpp
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Expand Up @@ -89,14 +89,17 @@ void Joy::JoyCallback(const sensor_msgs::JoyConstPtr& msg) {
else {
current_yaw_vel_ = 0;
}
control_msg_.yaw_rate = current_yaw_vel_;

control_msg_.yaw_rate = msg->axes[3] * max_.rate_yaw ;
ROS_INFO("hello world! %d", axes_.thrust_direction);
if (is_fixed_wing_) {
double thrust = msg->axes[axes_.thrust] * axes_.thrust_direction;
control_msg_.thrust.x = (thrust >= 0.0) ? thrust : 0.0;
}
else {
control_msg_.thrust.z = (msg->axes[axes_.thrust] + 1) * max_.thrust / 2.0 * axes_.thrust_direction;
control_msg_.thrust.z = (msg->axes[axes_.thrust] * axes_.thrust_direction + 1) * max_.thrust / 2.0 ;



}

ros::Time update_time = ros::Time::now();
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