Evan UWRT Challenge #27
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| int main(int argc, char * argv[]) | ||
| { | ||
| rclcpp::init(argc, argv); | ||
| rclcpp::spin(std::make_shared<KillTurtlesSubscriber>()); |
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Sooo you haven't used componetns here. Not the end of the world, but just search up ros2 components for your own knowledge.
| MoveActionClient() | ||
| : Node("move_action_client") | ||
| { | ||
| this->client_ptr = rclcpp_action::create_client<move_action>( |
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In C++ you don't really use this, it's just implied bc you are in the class. Also, for future reference, I would try to avoid pointers because they don't really benefit in any way... they are just kinda there. No need to change, just keep it in mind.
| using move_action = challenge_package::action::Move; | ||
| using goal_handle_move = rclcpp_action::ClientGoalHandle<move_action>; | ||
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| class MoveActionClient : public rclcpp::Node |
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Technically client is not needed and you can just send via command line.
| } | ||
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| void publish_move_turtle_msg() { | ||
| // Whats the difference between linear and angular? A: https://stackoverflow.com/questions/50976281/what-do-x-y-and-z-mean-in-geometry-msgs-twist-message-in-ros |
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Linear is linear velocity moving in XYZ direction, angular is veloctiy AROUND XYZ axes. You can't 'turn around' via linear velocity; you need angular velocity.
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Yeah I actually forgot to remove that, that was clarified when I finished this part.
| // circle_msg.linear.z = 1; // doesnt matter cuz turtle only in 2D | ||
| circle_msg.angular.x = 0; | ||
| circle_msg.angular.y = 0; | ||
| circle_msg.angular.z = 1; // spins around the z-axis, which would be in x and y. |
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Yea, in theory this works bc your 'Z' angular constantly changes your linear 'Y' direction, so you end up moving in a circle.
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