Allow default values even if axis_linear is defined #34
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| @@ -74,30 +74,14 @@ TeleopTwistJoy::TeleopTwistJoy(ros::NodeHandle* nh, ros::NodeHandle* nh_param) | |||
| nh_param->param<int>("enable_button", pimpl_->enable_button, 0); | |||
| nh_param->param<int>("enable_turbo_button", pimpl_->enable_turbo_button, -1); | |||
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| if (nh_param->getParam("axis_linear", pimpl_->axis_linear_map)) | |||
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@dave992 this checks if the param is a map .
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It however does not ensure that all parameters of the map are set (in this case scale_linear and scale_linear_turbo), or alternatively provide any default value in case they are missing.
In teleop_ps4.yaml it only sets the yaw axis for example. It then does check for both scale_linear and scale_linear_turbo, but as they do not exist they use the value resulting from the initialization of the pimpl_ object. This does not correspond to the default values that are used when the axis_linear is not set.
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Potential fix for #33
Currently, default scale values are not used if a non-default axis is used for either
axis_linearoraxis_angular. As a result, the cmd_vel topic will only command velocities of 0 for the affected axes.By removing the if-statement, the default values are still taken into account if another axis is used.