From 6ca020cfd3b4aff390382773ebe7f87cd0682b2e Mon Sep 17 00:00:00 2001 From: hyd Date: Wed, 25 Mar 2026 21:57:03 +0800 Subject: [PATCH 1/4] Fix chassis base_link default frame typo. --- rm_chassis_controllers/src/chassis_base.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rm_chassis_controllers/src/chassis_base.cpp b/rm_chassis_controllers/src/chassis_base.cpp index f70b2588..b65bd581 100644 --- a/rm_chassis_controllers/src/chassis_base.cpp +++ b/rm_chassis_controllers/src/chassis_base.cpp @@ -155,7 +155,7 @@ void ChassisBase::update(const ros::Time& time, const ros::Duration& perio else follow_source_frame_ = cmd_rt_buffer_.readFromRT()->cmd_chassis_.follow_source_frame; if (cmd_rt_buffer_.readFromRT()->cmd_chassis_.command_source_frame.empty()) - command_source_frame_ = "bask_link"; + command_source_frame_ = "base_link"; else command_source_frame_ = cmd_rt_buffer_.readFromRT()->cmd_chassis_.command_source_frame; From 8d422a2977608c25766d136eb69b309c43cea619 Mon Sep 17 00:00:00 2001 From: hyd Date: Wed, 25 Mar 2026 22:19:11 +0800 Subject: [PATCH 2/4] Fix follow and twist mode. --- rm_chassis_controllers/src/chassis_base.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rm_chassis_controllers/src/chassis_base.cpp b/rm_chassis_controllers/src/chassis_base.cpp index b65bd581..4ef8fdfa 100644 --- a/rm_chassis_controllers/src/chassis_base.cpp +++ b/rm_chassis_controllers/src/chassis_base.cpp @@ -173,10 +173,10 @@ void ChassisBase::update(const ros::Time& time, const ros::Duration& perio raw(); break; case FOLLOW: - raw(); + follow(time, period); break; case TWIST: - raw(); + twist(time, period); break; } From 45c7fba1ed39403199b1a0c9fa763fafe421361d Mon Sep 17 00:00:00 2001 From: hyd Date: Wed, 25 Mar 2026 22:22:34 +0800 Subject: [PATCH 3/4] Update default follow and command source frames in ChassisBase. --- rm_chassis_controllers/src/chassis_base.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rm_chassis_controllers/src/chassis_base.cpp b/rm_chassis_controllers/src/chassis_base.cpp index 4ef8fdfa..ebf7d987 100644 --- a/rm_chassis_controllers/src/chassis_base.cpp +++ b/rm_chassis_controllers/src/chassis_base.cpp @@ -149,13 +149,13 @@ void ChassisBase::update(const ros::Time& time, const ros::Duration& perio vel_cmd_.y = ramp_y_->output(); vel_cmd_.z = cmd_vel.angular.z; } - // test + if (cmd_rt_buffer_.readFromRT()->cmd_chassis_.follow_source_frame.empty()) follow_source_frame_ = "yaw"; else follow_source_frame_ = cmd_rt_buffer_.readFromRT()->cmd_chassis_.follow_source_frame; if (cmd_rt_buffer_.readFromRT()->cmd_chassis_.command_source_frame.empty()) - command_source_frame_ = "base_link"; + command_source_frame_ = "yaw"; else command_source_frame_ = cmd_rt_buffer_.readFromRT()->cmd_chassis_.command_source_frame; From 1294260b66f796a8bfa6c024114e6c38c68bf241 Mon Sep 17 00:00:00 2001 From: hyd Date: Wed, 25 Mar 2026 22:28:02 +0800 Subject: [PATCH 4/4] Remove unnecessary blank line in ChassisBase update method. --- rm_chassis_controllers/src/chassis_base.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rm_chassis_controllers/src/chassis_base.cpp b/rm_chassis_controllers/src/chassis_base.cpp index ebf7d987..1e744ebd 100644 --- a/rm_chassis_controllers/src/chassis_base.cpp +++ b/rm_chassis_controllers/src/chassis_base.cpp @@ -149,7 +149,7 @@ void ChassisBase::update(const ros::Time& time, const ros::Duration& perio vel_cmd_.y = ramp_y_->output(); vel_cmd_.z = cmd_vel.angular.z; } - + if (cmd_rt_buffer_.readFromRT()->cmd_chassis_.follow_source_frame.empty()) follow_source_frame_ = "yaw"; else