fix: 修复imu赋值错误

fishros · Apr 23, 2024 · bdcd96f · bdcd96f
1 parent 9c99f41
commit bdcd96f
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diff --git a/release-notes.md b/release-notes.md
@@ -1,5 +1,4 @@
-- [feat]修改断线重连检测稳定性
-- [feat]改用docker发布模式
+- [fix]修复IMU赋值错误问题
 
 版本说明：
 - alpha:内部测试版本（不建议使用）

diff --git a/src/fishbot.cpp b/src/fishbot.cpp
@@ -524,8 +524,8 @@ void callback_sensor_publisher_timer_(rcl_timer_t *timer, int64_t last_call_time
             imu_msg.header.stamp.nanosec = static_cast<uint32_t>((stamp % 1000) * 1e6); // 纳秒部分
 
             imu_msg.angular_velocity.x = imu_data.angular_velocity.x;
-            imu_msg.angular_velocity.x = imu_data.angular_velocity.x;
-            imu_msg.angular_velocity.x = imu_data.angular_velocity.x;
+            imu_msg.angular_velocity.y = imu_data.angular_velocity.y;
+            imu_msg.angular_velocity.z = imu_data.angular_velocity.z;
 
             imu_msg.linear_acceleration.x = imu_data.linear_acceleration.x;
             imu_msg.linear_acceleration.y = imu_data.linear_acceleration.y;