[jsk_spot_startup] add eye app

k-okada · Jul 4, 2023 · c74d921 · c74d921
1 parent 29dec57
commit c74d921
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/jsk_spot_robot/jsk_spot_startup/apps/sample_eye_rotation/sample-eye-rotation.l b/jsk_spot_robot/jsk_spot_startup/apps/sample_eye_rotation/sample-eye-rotation.l
@@ -20,10 +20,12 @@
 (while (ros::ok)
        (ros::sleep)
        (send *right-eye-target* :x (* -1 (cos (/ (* 2 *pi* index) 10))))
-       (send *right-eye-target* :y (sin (/ (* 2 *pi* index) 10)))
+       (send *right-eye-target* :y (* 1 (sin (/ (* 2 *pi* index) 10))))
        (send *left-eye-target* :x (* 1 (cos (/ (* 2 *pi* index) 10))))
-       (send *left-eye-target* :y (sin (/ (* 2 *pi* index) 10)))
+       (send *left-eye-target* :y (* 1 (sin (/ (* 2 *pi* index) 10))))
        (ros::publish *right-eye-topic* *right-eye-target*)
        (ros::publish *left-eye-topic* *left-eye-target*)
-       (ros::info "publish")
+       (ros::ros-info "publish to right ~A" *right-eye-target*)
+       (ros::ros-info "publish to right ~A" *left-eye-target*)
+       (setq index (+ 1 index))
        )