From 8f287be8e773101a16bb8c9b11711875799a57c8 Mon Sep 17 00:00:00 2001 From: Jackack Date: Fri, 3 Jan 2025 17:10:22 +0800 Subject: [PATCH] fixed subscribers --- rb_ws/src/buggy/buggy/path_planner/path_planner.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/rb_ws/src/buggy/buggy/path_planner/path_planner.py b/rb_ws/src/buggy/buggy/path_planner/path_planner.py index 485d426..b0c9304 100644 --- a/rb_ws/src/buggy/buggy/path_planner/path_planner.py +++ b/rb_ws/src/buggy/buggy/path_planner/path_planner.py @@ -47,7 +47,8 @@ def __init__(self, nominal_traj:Trajectory, left_curb:Trajectory) -> None: super().__init__('path_planner') self.other_buggy_xtrack_publisher = self.create_publisher(Float64, "self/debug/other_buggy_xtrack", 10) self.traj_publisher = self.create_publisher(TrajectoryMsg, "self/cur_traj", 10) - self.odom_subscriber = self.create_subscription(Odometry, 'self/state', self.odom_listener, 1) + self.self_pose_subscriber = self.create_subscription(Odometry, 'self/state', self.self_pose_callback, 1) + self.other_pose_subscriber = self.create_subscription(Odometry, 'other/state', self.other_pose_callback, 1) self.nominal_traj = nominal_traj self.left_curb = left_curb