nic/drawing-robot-ros2
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Set drawing controller range 0:1 for X and Y

Browse Source
This commit is contained in:
Nicolas Hiillos
2023-01-17 11:01:41 +02:00
parent 1bf28eeb87
commit 4935245c61
1 changed files with 3 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
src/drawing_controller/drawing_controller/drawing_controller.py
View File

@@ -58,7 +58,7 @@ class DrawingController(Node):
def __init__(self, svgpath):
super().__init__('drawing_controller')
#self.publisher_ = self.create_publisher(PoseStamped, '/target_pose', 10)
timer_period = 20.0 # seconds
timer_period = 5.0 # seconds
self.timer = self.create_timer(timer_period, self.timer_callback)
self.i = 0
@@ -66,7 +66,8 @@ class DrawingController(Node):
xml = ET.parse(svgpath)
svg = xml.getroot()
self.map_point = map_point_function(float(svg.get('width')), float(svg.get('height')), 0.1, 0.5, -0.2, 0.2)
#self.map_point = map_point_function(float(svg.get('width')), float(svg.get('height')), 0.1, 0.5, -0.2, 0.2)
self.map_point = map_point_function(float(svg.get('width')), float(svg.get('height')), 0.0, 1.0, 0.0, 1.0)
self.lines = []
for child in svg:
if (child.tag == 'line'):