fixing new thruster alloc

vortexntnu · Nov 13, 2023 · 09ceb57 · 09ceb57
1 parent d6ece41
commit 09ceb57
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/auv_setup/config/robots/beluga.yaml b/auv_setup/config/robots/beluga.yaml
@@ -37,9 +37,9 @@ propulsion:
     num: 8
     configuration_matrix:
 
-      [[ 0.70711,  0.00000,  -0.70711,  0.00000,  -0.70711,  0.00000,  0.00000, 0.70711], # Surge
-       [0.70711,  0.00000,  0.70711,  0.00000, -0.70711,  0.00000,  0.00000, -0.70711], # Sway
-       [ 0.00000,  1.00000,  0.00000,  1.00000,  0.00000,  1.00000,  1.00000, 0.00000], # Heave
+      [[ 0.70711,  0.00000,  0.00000,  0.70711,  0.70711,  0.00000,  0.00000, 0.70711], # Surge
+       [-0.70711,  0.00000,  0.00000,  0.70711, -0.70711,  0.00000,  0.00000, 0.70711], # Sway
+       [ 0.00000,  1.00000,  1.00000,  0.00000,  0.00000,  1.00000,  1.00000, 0.00000], # Heave
 
        [ 0.04738, -0.21500, 0.04738,  -0.21500,  -0.04738, 0.21500,  0.21500,  -0.04738 ], # Roll
        [ -0.04738, -0.28000,  0.04738,  0.28000,  0.04738, 0.28000, -0.28000,  -0.04738 ], # Pitch 

diff --git a/auv_setup/launch/pc.launch b/auv_setup/launch/pc.launch
@@ -3,6 +3,9 @@
   <env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}] [${node}]: ${message}" />
   <arg name="ns_joystick"   default="joystick"/>
 
+  <rosparam command="load" file="$(find auv_setup)/config/robots/beluga.yaml"/>
+
+
   <!-- Joystick nodes -->
   <group ns="$(arg ns_joystick)">
     <node pkg="joy"                name="joystick_driver"    type="joy_node"              output="screen" args="_deadzone:=0.15 _autorepeat_rate:=100"/>