ROS_Robot/wpb_home
1
0
Fork 0
mirror of https://github.com/6-robot/wpb_home.git synced 2025-09-15 12:58:59 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

fix voice_cmd

Browse Source
This commit is contained in:
ZhangWanjie 2017-03-28 20:10:53 +08:00
parent 8ab03de514
commit 01181196f6
1 changed files with 42 additions and 36 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
wpb_home_tutorials/src/wpb_home_voice_cmd.cpp
View File

@ -52,23 +52,29 @@ void KeywordCB(const std_msgs::String::ConstPtr & msg)
vel_cmd.angular.y = 0;
vel_cmd.angular.z = 0;
if(msg->data.find("forward")>0)
int nFindIndex = 0;
nFindIndex = msg->data.find("forward");
if(nFindIndex >= 0)
{
vel_cmd.linear.x = 0.1;
}
if(msg->data.find("backward")>0)
nFindIndex = msg->data.find("backward");
if(nFindIndex >= 0)
{
vel_cmd.linear.x = -0.1;
}
if(msg->data.find("left")>0)
nFindIndex = msg->data.find("left");
if(nFindIndex >= 0)
{
vel_cmd.linear.y = 0.1;
}
if(msg->data.find("right")>0)
nFindIndex = msg->data.find("right");
if(nFindIndex >= 0)
{
vel_cmd.linear.y = -0.1;
}
if(msg->data.find("stop")>0)
nFindIndex = msg->data.find("stop");
if(nFindIndex >= 0)
{
vel_cmd.linear.x = 0;
vel_cmd.linear.y = 0;