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test: #2

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This commit is contained in:
havocrao 2025-08-17 23:10:47 +08:00
parent 64fd701585
commit 85cfa8f23b
1 changed files with 2 additions and 1 deletions
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3
base-move-demo.py
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@ -98,6 +98,7 @@ class Robot_Ctrl(object):
self.mode_ok = self.rec_msg.mode self.mode_ok = self.rec_msg.mode
else: else:
self.mode_ok = 0 self.mode_ok = 0
print("[rec_msg]", self.rec_msg.mode, self.rec_msg.gait_id, self.rec_msg.contact, self.rec_msg.order_process_bar, self.rec_msg.switch_status, self.rec_msg.ori_error, self.rec_msg.footpos_error, self.rec_msg.motor_error)
def msg_handler_o(self, channel, data): def msg_handler_o(self, channel, data):
self.odo_msg = localization_lcmt().decode(data) self.odo_msg = localization_lcmt().decode(data)
@ -113,7 +114,7 @@ class Robot_Ctrl(object):
self.odo_msg.xyz[2] - self.calibration_offset[2] self.odo_msg.xyz[2] - self.calibration_offset[2]
] ]
if self.odo_msg.timestamp % 100 == 0: if self.odo_msg.timestamp % 100 == 0:
print(self.odo_msg.xyz, self.odo_msg.rpy, self.odo_msg.vxyz, self.odo_msg.omegaBody, self.odo_msg.vBody) print("[odo_msg]", self.odo_msg.xyz, self.odo_msg.rpy, self.odo_msg.vxyz, self.odo_msg.omegaBody, self.odo_msg.vBody)
def odo_reset(self): def odo_reset(self):
self.calibration_offset = self.odo_msg.xyz self.calibration_offset = self.odo_msg.xyz