debugged, now works

Signed-off-by: kminoda <[email protected]>
KYabuuchi · Jun 12, 2023 · 22532ea · 22532ea
1 parent ec4046c
commit 22532ea
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/localization/yabloc/twist/twist_converter/src/velocity_report_node.cpp b/localization/yabloc/twist/twist_converter/src/velocity_report_node.cpp
@@ -45,12 +45,12 @@ class VelocityReportEncoder : public rclcpp::Node
 
   void on_twist(const TwistStamped & msg)
   {
-    VelocityReport velocity_report;
+    Velocity velocity_report;
     velocity_report.header = msg.header;
     velocity_report.longitudinal_velocity = msg.twist.linear.x;
     velocity_report.lateral_velocity = msg.twist.linear.y;
-    velocity_report.heading_rate = msg.heading_rate;
-    pub_twist_stamped_->publish(velocity_report);
+    velocity_report.heading_rate = msg.twist.angular.z;
+    pub_velocity_report_->publish(velocity_report);
   }
 };
 

diff --git a/localization/yabloc/twist/twist_estimator/src/twist_estimator_core.cpp b/localization/yabloc/twist/twist_estimator/src/twist_estimator_core.cpp
@@ -37,7 +37,7 @@ TwistEstimator::TwistEstimator()
   auto cb_velocity = std::bind(&TwistEstimator::on_velocity_report, this, _1);
 
   sub_imu_ = create_subscription<Imu>("/sensing/imu/tamagawa/imu_raw", 10, cb_imu);
-  sub_velocity_report_ = create_subscription<VelocityReport>("/vehicle/status/velocity_report", 10, cb_velocity);
+  sub_velocity_report_ = create_subscription<VelocityReport>("/vehicle/status/velocity_status", 10, cb_velocity);
   sub_navpvt_ = create_subscription<NavPVT>("/sensing/gnss/ublox/navpvt", 10, cb_pvt);
 
   pub_twist_ = create_publisher<TwistStamped>("twist", 10);