From b7bd60756c5c15691d8c41ab7b298f83636227e4 Mon Sep 17 00:00:00 2001 From: PythonGame Date: Wed, 3 Jul 2024 10:06:01 +0000 Subject: [PATCH] =?UTF-8?q?=E2=80=9Esrc/simulator/simulator/sim.py?= =?UTF-8?q?=E2=80=9C=20=C3=A4ndern?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit expose leading vehicles velocity --- src/simulator/simulator/sim.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/simulator/simulator/sim.py b/src/simulator/simulator/sim.py index b863534..a3f0665 100644 --- a/src/simulator/simulator/sim.py +++ b/src/simulator/simulator/sim.py @@ -243,6 +243,7 @@ class Sim(Node): super().__init__('sim') self.publisher_ = self.create_publisher(Float64, 'distance', 10) self.velopub = self.create_publisher(Float64, 'velocity', 10) + self.velopub2 = self.create_publisher(Float64, 'lead_velocity', 10) self.clear = self.create_publisher(Float64, 'clearCenter', 10) self.timer = self.create_timer(0.05, self.callback) self.subscription = self.create_subscription(Float64,'inputPower', self.call, 10) @@ -263,6 +264,10 @@ class Sim(Node): msg.data = followingVelocityMpS * 1.00 self.velopub.publish(msg) + msg = Float64() + msg.data = leadingVelocityMpS * 1.00 + self.velopub2.publish(msg) + msg = Float64() msg.data = clearZoneCenter * 1.00 self.clear.publish(msg)