From c753b7d0f75803792ded346913f32687d1e9ec0e Mon Sep 17 00:00:00 2001 From: Nicholas Witten Date: Sun, 21 Jun 2026 12:50:03 -0700 Subject: [PATCH 1/2] trajectory and pivot updates --- ateam_msgs/msg/RobotMotionCommand.msg | 4 ++-- motion/ateam_controls/controls | 2 +- radio/ateam_radio_bridge/src/radio_bridge_node.cpp | 4 +--- radio/ateam_radio_msgs/software-communication | 2 +- 4 files changed, 5 insertions(+), 7 deletions(-) diff --git a/ateam_msgs/msg/RobotMotionCommand.msg b/ateam_msgs/msg/RobotMotionCommand.msg index 62d07aee..0b66fc9a 100644 --- a/ateam_msgs/msg/RobotMotionCommand.msg +++ b/ateam_msgs/msg/RobotMotionCommand.msg @@ -7,9 +7,9 @@ float64 limit_vel_angular # (rad/s) float64 limit_acc_linear # (m/s/s) float64 limit_acc_angular # (rad/s/s) -# pivot maneuver parameters (used when body_control_mode == BCM_PIVOT) +# pivot parameters float64 pivot_orbit_radius # (m) -float64 pivot_heading_lag # (rad) +float64 pivot_inset_angle # (rad) uint8 kick_request float32 kick_speed # (m/s) diff --git a/motion/ateam_controls/controls b/motion/ateam_controls/controls index 03820d79..f5c2152c 160000 --- a/motion/ateam_controls/controls +++ b/motion/ateam_controls/controls @@ -1 +1 @@ -Subproject commit 03820d7944b3a30ff235e10f0b0385056f043c19 +Subproject commit f5c2152c9a2a60f1190ba7c4f50511faaaee3434 diff --git a/radio/ateam_radio_bridge/src/radio_bridge_node.cpp b/radio/ateam_radio_bridge/src/radio_bridge_node.cpp index 8d762381..9e613fbc 100644 --- a/radio/ateam_radio_bridge/src/radio_bridge_node.cpp +++ b/radio/ateam_radio_bridge/src/radio_bridge_node.cpp @@ -369,13 +369,11 @@ class RadioBridgeNode : public rclcpp::Node case ateam_msgs::msg::RobotMotionCommand::BCM_PIVOT: control_msg.body_control_mode = BCM_PIVOT; control_msg.cmd.pivot = { - static_cast(command.pose.x), - static_cast(command.pose.y), static_cast(command.pose.theta), static_cast(command.limit_vel_angular), static_cast(command.limit_acc_angular), static_cast(command.pivot_orbit_radius), - static_cast(command.pivot_heading_lag) + static_cast(command.pivot_inset_angle) }; break; default: diff --git a/radio/ateam_radio_msgs/software-communication b/radio/ateam_radio_msgs/software-communication index f09f1c84..f72b9cc5 160000 --- a/radio/ateam_radio_msgs/software-communication +++ b/radio/ateam_radio_msgs/software-communication @@ -1 +1 @@ -Subproject commit f09f1c8498fc8c83d8644ccffb27ba185284af53 +Subproject commit f72b9cc5f7aedac8f890c060f53f7932444c200c From 295a622d6f1fd278a56408fdb6cf9bd6befad0d0 Mon Sep 17 00:00:00 2001 From: Nicholas Witten Date: Sun, 21 Jun 2026 13:15:51 -0700 Subject: [PATCH 2/2] updates submodules to main --- motion/ateam_controls/controls | 2 +- radio/ateam_radio_msgs/software-communication | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/motion/ateam_controls/controls b/motion/ateam_controls/controls index f5c2152c..11fab8ea 160000 --- a/motion/ateam_controls/controls +++ b/motion/ateam_controls/controls @@ -1 +1 @@ -Subproject commit f5c2152c9a2a60f1190ba7c4f50511faaaee3434 +Subproject commit 11fab8eac2b5e33765f7fe275dd1a27ae9c8b936 diff --git a/radio/ateam_radio_msgs/software-communication b/radio/ateam_radio_msgs/software-communication index f72b9cc5..5b0c64fa 160000 --- a/radio/ateam_radio_msgs/software-communication +++ b/radio/ateam_radio_msgs/software-communication @@ -1 +1 @@ -Subproject commit f72b9cc5f7aedac8f890c060f53f7932444c200c +Subproject commit 5b0c64fabb26156ae38a9e415f3472e65f3324c4