confirmed buggy_state_converter is consistent with ros2bnya

CMU-Robotics-Club · Jan 9, 2025 · 38bf052 · 38bf052
1 parent 36c7a97
commit 38bf052
Show file tree

Hide file tree

Showing 2 changed files with 0 additions and 2 deletions.
diff --git a/rb_ws/src/buggy/buggy/buggy_state_converter.py b/rb_ws/src/buggy/buggy/buggy_state_converter.py
@@ -131,7 +131,6 @@ def convert_NAND_state(self, msg):
         converted_msg.twist.covariance = msg.twist.covariance
 
         # ---- 4. Linear Velocities in m/s ----
-        # TODO: Check if scalar velocity is coming in from msg.twist.twist.linear.x
         # Convert scalar speed to velocity x/y components using heading (orientation.z)
         speed = msg.twist.twist.linear.x        # m/s scalar velocity
         heading = msg.pose.pose.orientation.z   # heading in radians

diff --git a/rb_ws/src/buggy/buggy/serial/ros_to_bnyahaj.py b/rb_ws/src/buggy/buggy/serial/ros_to_bnyahaj.py
@@ -191,7 +191,6 @@ def reader_thread(self):
                 odom.pose.pose.position.y = packet.northing
                 odom.pose.pose.orientation.z = packet.theta
 
-                # why this works: autonsystem only cares about magnitude of velocity so setting an arbitrary axis to the speed and leave other at 0 works.
                 odom.twist.twist.linear.x = packet.velocity
                 odom.twist.twist.angular.z = packet.heading_rate