From 834d10023b4419753efe95686ae95d12dc897ee1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=B0=94=E4=BA=86=E4=B8=AA=E8=BE=BE?= <727101923@qq.com>
Date: Thu, 19 May 2022 16:21:06 +0800
Subject: [PATCH] =?UTF-8?q?=E5=90=91=E5=8F=B3=E8=BD=AC=E5=90=91?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Command_to_pub.Reference_State.yaw_ref             -= YAW_STEP_SIZE;
---
 Modules/control/src/Utilities/terminal_control.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Modules/control/src/Utilities/terminal_control.cpp b/Modules/control/src/Utilities/terminal_control.cpp
index 7e388430a5..99197c6b7c 100755
--- a/Modules/control/src/Utilities/terminal_control.cpp
+++ b/Modules/control/src/Utilities/terminal_control.cpp
@@ -561,7 +561,7 @@ void mainloop2()
           Command_to_pub.source = NODE_NAME;
           Command_to_pub.Reference_State.Move_mode       = prometheus_msgs::PositionReference::XYZ_POS;
           Command_to_pub.Reference_State.Move_frame      = prometheus_msgs::PositionReference::BODY_FRAME;
-          Command_to_pub.Reference_State.yaw_ref             = YAW_STEP_SIZE;
+          Command_to_pub.Reference_State.yaw_ref             -= YAW_STEP_SIZE;
           move_pub.publish(Command_to_pub);
           
           cout << " " <<endl;
@@ -709,4 +709,4 @@ void Draw_in_rviz(const prometheus_msgs::PositionReference& pos_ref, bool draw_t
         reference_trajectory.poses = posehistory_vector_;
         ref_trajectory_pub.publish(reference_trajectory);
     }
-}
\ No newline at end of file
+}