updating coordinateNode to remove void msgs and add turning functiona…

…lity - alex
uwrobotics · May 10, 2024 · 345dd4c · 345dd4c
1 parent 2713079
commit 345dd4c
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Showing 2 changed files with 10 additions and 2 deletions.
diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/package.xml
@@ -3,8 +3,16 @@
 <package format="3">
   <name>uwrt_mars_rover_xbox_controller</name>
   <version>0.0.0</version>
-  <description>ROS2 rover xbox joystick controller</description>
+  <description>
+  ROS2 rover xbox joystick controller
+  Creator: Nico
+  Modifiers: Edward, Soumya, Alex
+  Link to detailed description: 
+  </description>
   <maintainer email="npalmar@uwaterloo.ca">nico</maintainer>
+  <maintainer email="@uwaterloo.ca">edward</maintainer>
+  <maintainer email="@uwaterloo.ca">soumya</maintainer>
+  <maintainer email="aszabo@uwaterloo.ca">alex</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

diff --git a/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp b/uwrt_mars_rover_utils/uwrt_mars_rover_xbox_controller/src/coordinateNode.cpp
@@ -9,7 +9,7 @@ CoordinateNode::CoordinateNode(const rclcpp::NodeOptions & options) : Node("coor
 
         auto msg = std::make_unique<geometry_msgs::msg::Twist>();
         msg->linear.x = (*msg_in).drivetrain_joy_x * vConstant;
-        msg->linear.y = (*msg_in).drivetrain_joy_y * vConstant;
+        msg->angular.z = (*msg_in).gimble_joy_x * vConstant;
 
         pub_->publish(std::move(msg));
     };