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Fix chassis base_link default frame typo. #209

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HydrogenZp wants to merge 3 commits into from
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Fix chassis base_link default frame typo. #209

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6ca020c
Fix chassis base_link default frame typo.
HydrogenZp Mar 25, 2026
8d422a2
Fix follow and twist mode.
HydrogenZp Mar 25, 2026
45c7fba
Update default follow and command source frames in ChassisBase.
HydrogenZp Mar 25, 2026
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8 changes: 4 additions & 4 deletions rm_chassis_controllers/src/chassis_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -149,13 +149,13 @@ void ChassisBase<T...>::update(const ros::Time& time, const ros::Duration& perio
vel_cmd_.y = ramp_y_->output();
vel_cmd_.z = cmd_vel.angular.z;
}
// test

if (cmd_rt_buffer_.readFromRT()->cmd_chassis_.follow_source_frame.empty())
follow_source_frame_ = "yaw";
else
follow_source_frame_ = cmd_rt_buffer_.readFromRT()->cmd_chassis_.follow_source_frame;
if (cmd_rt_buffer_.readFromRT()->cmd_chassis_.command_source_frame.empty())
command_source_frame_ = "bask_link";
command_source_frame_ = "yaw";
else
command_source_frame_ = cmd_rt_buffer_.readFromRT()->cmd_chassis_.command_source_frame;

Expand All @@ -173,10 +173,10 @@ void ChassisBase<T...>::update(const ros::Time& time, const ros::Duration& perio
raw();
break;
case FOLLOW:
raw();
follow(time, period);
break;
case TWIST:
raw();
twist(time, period);
break;
}

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