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print debug to screen & ik debug publisher

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Tristan McGinnis
2025-05-07 14:11:24 -05:00
committed by David
parent d270235088
commit bd5c3c3c5a
1 changed files with 1 additions and 0 deletions
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src/arm_pkg/arm_pkg/arm_node.py
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@@ -422,6 +422,7 @@ class SerialRelay(Node):
tempMsg = String() tempMsg = String()
tempMsg.data = "Current Position: " + str(current_position) + "\nInput Vector" + str(input_raw) + "\nTarget Position: " + str(target_position) + "\nAngles: " + str(self.arm.current_angles) tempMsg.data = "Current Position: " + str(current_position) + "\nInput Vector" + str(input_raw) + "\nTarget Position: " + str(target_position) + "\nAngles: " + str(self.arm.current_angles)
self.ik_debug.publish(tempMsg) self.ik_debug.publish(tempMsg)
self.get_logger().info(f"[IK] {tempMsg.data}")
# Debug output for current position # Debug output for current position
#tempMsg.data = "Current Position: " + str(current_position) #tempMsg.data = "Current Position: " + str(current_position)