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debug printing

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This commit is contained in:
Tristan McGinnis
2025-04-26 12:02:30 -05:00
committed by David
parent dde9d61a33
commit 5c41d66404
1 changed files with 9 additions and 5 deletions
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14
src/arm_pkg/arm_pkg/arm_node.py
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@@ -396,11 +396,15 @@ class SerialRelay(Node):
def send_ik(self, msg): def send_ik(self, msg):
input_raw = msg.movement_vector # [x, y, z] input_raw = msg.movement_vector # [x, y, z]
#input_x = input_raw[0]
#input_y = input_raw[1]
#input_z = input_raw[2]
# Debug output # Debug output
msg = String() tempMsg = String()
msg.data = "From IK Control Got Vector: " + str(input_raw) tempMsg.data = "From IK Control Got Vector: " + str(input_raw)
self.debug_pub.publish(msg) #self.get_logger().info(f"[IK Control] {tempMsg.data}")
self.debug_pub.publish(tempMsg)
# normalize the vector # normalize the vector
input_norm = np.linalg.norm(input_raw) / 2.0 input_norm = np.linalg.norm(input_raw) / 2.0
@@ -410,8 +414,8 @@ class SerialRelay(Node):
#Target position is current position + normalized vector #Target position is current position + normalized vector
target_position = self.arm.get_position() + input_norm target_position = self.arm.get_position() + input_norm
msg.data = "Target Position: " + str(target_position) tempMsg.data = "Target Position: " + str(target_position)
self.debug_pub.publish(msg) self.debug_pub.publish(tempMsg)
if(self.arm.perform_ik(self.arm.get_position()+input_norm)): if(self.arm.perform_ik(self.arm.get_position()+input_norm)):
#send command to control #send command to control