def publish_state(self):
if not None in (self.x, self.y, self.v, self.psi):
curr_state = state_est()
curr_state.header.stamp = rospy.Time.now()
curr_state.psi = self.psi
curr_state.v = self.v
curr_state.x_adj = self.x
curr_state.y_adj = self.y
curr_state.x = curr_state.x_adj
curr_state.y = curr_state.y_adj
self.state_pub.publish(curr_state)
def publish_state(self):
if not None in (self.x, self.y, self.v, self.psi):
curr_state = state_est()
curr_state.header.stamp = rospy.Time.now()
curr_state.psi = self.psi
curr_state.v = self.v
curr_state.x_adj = self.x # + self.x_off - self.axle_dist*cos(self.psi)
curr_state.y_adj = self.y # + self.y_off - self.axle_dist*sin(self.psi)
curr_state.x = curr_state.x_adj
curr_state.y = curr_state.y_adj
self.state_pub.publish(curr_state)