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feat(core): remove bypass /cmd_vel topic

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David
2026-03-26 01:37:57 -05:00
parent ea36ce6ef4
commit ec12a083f1
1 changed files with 0 additions and 16 deletions
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16
src/core_pkg/core_pkg/core_node.py
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@@ -104,10 +104,6 @@ class CoreNode(Node):
JointState, "/core/joint_commands", self.joint_command_callback, 2
)
else:
# autonomy twist -- m/s and rad/s -- for autonomy, in particular Nav2
self.cmd_vel_sub_ = self.create_subscription(
TwistStamped, "/cmd_vel", self.cmd_vel_callback, 1
)
# manual twist -- [-1, 1] rather than real units
# TODO: change topic to '/core/control/twist'
self.twist_man_sub_ = self.create_subscription(
@@ -254,18 +250,6 @@ class CoreNode(Node):
20, [fl_rpm, bl_rpm, fr_rpm, br_rpm]
) # order expected by embedded
def cmd_vel_callback(self, msg: TwistStamped):
linear = msg.twist.linear.x
angular = -msg.twist.angular.z
vel_left_rads = (linear - (angular * CORE_WHEELBASE / 2)) / CORE_WHEEL_RADIUS
vel_right_rads = (linear + (angular * CORE_WHEELBASE / 2)) / CORE_WHEEL_RADIUS
vel_left_rpm = round((vel_left_rads * 60) / (2 * 3.14159)) * CORE_GEAR_RATIO
vel_right_rpm = round((vel_right_rads * 60) / (2 * 3.14159)) * CORE_GEAR_RATIO
self.send_viccan(20, [vel_left_rpm, vel_right_rpm])
def twist_man_callback(self, msg: Twist):
linear = msg.linear.x # [-1 1] for forward/back from left stick y
angular = msg.angular.z # [-1 1] for left/right from right stick x