controller debugging

CMU-Robotics-Club · Jan 9, 2025 · 2db3439 · 2db3439
1 parent a72a78a
commit 2db3439
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/rb_ws/src/buggy/scripts/controller/controller_node.py b/rb_ws/src/buggy/scripts/controller/controller_node.py
@@ -40,9 +40,9 @@ def __init__(self):
 
         start_index = self.cur_traj.get_index_from_distance(start_dist)
 
-        self.declare_parameter("controller_name", "stanley")
+        self.declare_parameter("controller", "stanley")
 
-        controller_name = self.get_parameter("controller_name").value
+        controller_name = self.get_parameter("controller").value
         print(controller_name.lower)
         if (controller_name.lower() == "stanley"):
             self.controller = StanleyController(start_index = start_index, namespace = self.get_namespace(), node=self) #IMPORT STANLEY

diff --git a/rb_ws/src/buggy/scripts/controller/stanley_controller.py b/rb_ws/src/buggy/scripts/controller/stanley_controller.py
@@ -48,7 +48,7 @@ def compute_control(self, state_msg : Odometry, trajectory : Trajectory):
             float (desired steering angle)
         """
         if self.current_traj_index >= trajectory.get_num_points() - 1:
-            self.node.get_logger.error("[Stanley]: Ran out of path to follow!")
+            self.node.get_logger().error("[Stanley]: Ran out of path to follow!")
             raise Exception("[Stanley]: Ran out of path to follow!")
 
         current_rospose = state_msg.pose.pose