for the Python robot_control_class I made a copy as indicated.

When I tried Exercise 3.4 I wasn't getting results as expected. When I looked more closely at the class I noticed that the "backward" option seemed to be configured incorrectly:

if motion == "forward":
    self.cmd.linear.x = speed
elif motion == "backward":
    self.cmd.angular.z = - speed

Seems like you want to have "backward" set the linear.x and not the angular.z, like the 'forward' option does. In other words the last line should read:

self.cmd.linear.x = -speed

After I modified my local copy that way my program worked as expected.

/K

asked 05 Jul, 23:44

comm%40woeltje.org's gravatar image

comm@woeltje...
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question asked: 05 Jul, 23:44

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