From c74d921f04e310c16b41ff5006692c5ff15adf32 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 18 Apr 2023 09:58:50 +0900 Subject: [PATCH] [jsk_spot_startup] add eye app --- .../apps/sample_eye_rotation/sample-eye-rotation.l | 8 +++++--- 1 file changed, 5 insertions(+), 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 index 773a620fd0..e7a6f480a9 100755 --- 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)) )