From 2493e2fe6b3ad03e096502e7a52438a1320afb66 Mon Sep 17 00:00:00 2001 From: "lucas.marais" Date: Tue, 2 Apr 2024 14:42:29 +0200 Subject: [PATCH] correction IK --- catkin_ws/src/poppy_ros/src/poppy_pong_iv.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/catkin_ws/src/poppy_ros/src/poppy_pong_iv.cpp b/catkin_ws/src/poppy_ros/src/poppy_pong_iv.cpp index cb439ba..35dcf0b 100644 --- a/catkin_ws/src/poppy_ros/src/poppy_pong_iv.cpp +++ b/catkin_ws/src/poppy_ros/src/poppy_pong_iv.cpp @@ -40,6 +40,8 @@ float get_q1(float x, float y) void posCMDCallback(const geometry_msgs::Point& joint_pos) { + float pos_x = joint_pos.x; + float pos_y = joint_pos.y; if (sqrt(pow(joint_pos.x, 2) + pow(joint_pos.y, 2)) <= 120) { if (hitting_need == true)